Rendering Surface Properties Using a Dual-Purpose Soft Wearable Actuator

The aim of this study is to develop a soft wearable actuator capable of rendering surface shape and hardness. The system consists of an adjustable air source and two parallel inflatable balloons and is designed to be worn on the fingertip. By modulating the internal air pressure while the user moves across a
surface, different surface properties can be simulated. Initial results obtained using a sinusoidal surface profile indicate that, with further development, the actuator is capable of successfully rendering surface geometry.