Dual-Modal Haptic Device Using AC Voltage-Driven Electrohydraulic Actuators for Teleoperated Robotic Grasping

Developing haptic devices with advanced haptic rendering capabilities is challenging due to the limitations in current actuation mechanisms. This letter presents a dual-modal haptic device based on low-cost, AC-driven hydraulically amplified self-healing electrostatic (HASEL) actuators, designed to provide simultaneous kinesthetic and cutaneous feedback to the user. The device incorporates a force amplification and transmission mechanism to effectively deliver and enhance the actuators’ output force, supported by a statics model for performance analysis. The device demonstrates four key capabilities: stable force output during prolonged activation, rapid mechanical response to input changes, precise control of fine force output, and the ability to generate dual-modal feedback by modulating the activation voltage waveform without additional actuators. Furthermore, to demonstrate the practical applicability, this article also presents a teleoperated robotic system incorporating the haptic device, providing real-time haptic feedback for remote grasping tasks.