Dielectric Elastomer Spring Roll Actuators for a Portable Force Feedback Device

In this paper, we present a new portable force feedback device for surgery simulations. Dielectric elastomer spring roll linear actua tors for this device were manufactured, and characterized via pas sive tensile tests and active isometric tests. The actuators exhibited a maximum force of 7.2 N, and a maximum elongation of 31%. Due to the high driving voltage, electrical safety issues were also considered. The results showed that sufficient electrical safety can be provided to the user. Two prototypes were built, which practi cally showed functionalities of the actuator and the proposed force feedback concept with actuators connected between the fingers.