Development of a flexible fabric-based variable shape actuator for enhanced multi-DoF haptic feedback.

Conventional haptic feedback devices that rely on rigid components to achieve multiple degrees of freedom (DoF) often result in bulky, complex systems that hinder natural movement and increase user discomfort. This study addresses these limitations by substituting rigid materials with flexible, fabric-based materials to develop a variable shape actuator (VSA). The VSA is designed to provide multi-DoF haptic feedback by integrating contraction and expansion mechanisms within a lightweight, fabric structure. The actuator consists of a tactile feedback actuator (TFA) for delivering tactile sensations and a joint angle actuator (JAA) for kinesthetic feedback, allowing the system to dynamically alter its shape. Experimental results demonstrate that the VSA successfully produces multi-DoF haptic feedback on the palmar surface of the hand, enhancing the haptic experience in virtual environments. This advancement in haptic feedback technology paves the way for more diverse and immersive feedback systems, significantly narrowing the gap between virtual reality and physical reality.