A Novel Kinesthetic Haptic Feedback Device Driven by Soft Electrohydraulic Actuators

TL;DR

This paper introduces a soft electrohydraulic actuator-based kinesthetic haptic device capable of stable, high-resolution force feedback and variable frequency vibration, enhancing teleoperated robotic systems.

Contribution

The study presents a novel soft electrohydraulic actuator and integrates it into a kinesthetic haptic device with controllable force and vibration capabilities, advancing haptic technology.

Findings

Device outputs controllable feedback force

Exhibits fast response characteristics

Enables variable frequency haptic vibration

Abstract

Developing kinesthetic haptic devices with advanced haptic rendering capabilities is challenging due to the limitations on driving mechanisms. In this study, we introduce a novel soft electrohydraulic actuator and develop a kinesthetic haptic device utilizing it as the driving unit. We established a mathematical model and conducted testing experiments to demonstrate the device's ability to stably output controllable feedback force. Our experiments also demonstrates that this device exhibits fast response characteristics. By utilizing the easily controllable nature of the soft electrohydraulic actuator, we were able to achieve high-resolution controllable feedback force output. Furthermore, by modulating the waveform of the driving high voltage, the device acquired the capability to render variable frequency haptic vibration without adding any extra vibration actuator. Using this kinesthetic haptic device, we built a teleoperated robotic system, showcasing the device's potential application as a haptic force feedback system in the field of robotics.