Lego-Like Reconfigurable Soft Haptic Array Via Self-Healing Sensor/Actuator Modules

Soft haptic devices could enable unique applications in AR/VR, healthcare, and human-machine interface systems. Here, a versatile reconfigurable haptic system is proposed for different application scenarios at diverse anatomical locations and body shapes. Lego toys are the inspiration of the module concept where individual haptic modules can be cut, reconfigured, and reconnected as a new system in the ambient environment repeatedly. Each module consists of the basic building block of flexible self-healable ion-conducting and insulating layers. After the assembly and self-healing processes, experimental results show minor changes in their specific electrical conductivities (>90% recovery) and output actuation displacements (>80%) while the connected modules can sustain a tensile force of over 4 Newton without breakage. In a proof-of-concept demo, a soft haptic array is reconfigured to different sizes and shapes without affecting mechanical stimulation outputs. There are many possible applications in AR/VR and human-machine interfaces, we show that these modules can be readily reconfigured between two common usages in this work: (1) as virtual keyboards by working separately; (2) as a smart safety warning patch on the steering wheel of a car when assembled together.