A Handheld Stiffness Display with a Programmable Spring and Electrostatic Clutches for Haptic Interaction in Virtual Reality
2025.10
we propose a lightweight, low-power handheld device that provides wide-range stiffness feedback through a novel dual actuation design composed of two key components. A programmable spring (PS), implemented via an adjustable lever arm, enables tunable physical stiffness. Two electrostatic clutches (ECs) are integrated to compensate for the inherent limitations of PS-based interactions in stiffness display range, rendered object size, and free motion capability.The feedback force arises passively from the reaction of the PS and ECs to user input, effectively lowering both power consumption and actuator torque demands.
This paper won IEEE ISMAR 2025 Best Paper Award !!!Dual-Modal Haptic Device Using AC Voltage-Driven Electrohydraulic Actuators for Teleoperated Robotic Grasping
2025.08
We present 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.
Intelligent Soft Robotics Lab (ISRLab) is affiliated with Department of Electromechanical Engineering (EME), Faculty of Science and Technology, University of Macau, Macau. Founded in 1981, the University of Macau (UM) is a comprehensive research-oriented public university of international standing, with a multicultural campus and a system of whole-person education underpinned by faculties and residential colleges in an international education setup. 80 per cent of its faculty members are from outside Macao. With English as the main medium of instruction, the university is committed to producing creative and socially responsible graduates with a global mindset and international competitiveness.UM’s global standing has improved significantly in recent years. The university ranks No 180 in the Times Higher Education (THE) World University Rankings, No 14 in the THE Young University Rankings and No 36 in the THE Asia University Rankings. In the Quacquarelli Symonds (QS) World University Rankings, UM ranks No 245. In the U.S. News & World Report’s Best Global Universities Rankings, it is ranked No. 262.