Design and Experimental Evaluation of an Electrorheological Haptic Module with Embedded Sensing

We present a miniature haptic module based on electrorheological fluid, designed for conveying combined stiffness and vibrotactile sensations at small scale. Haptic feedback is produced through fluid’s controllable resistive force varies with the actuator’s deformation. To demonstrate proposed in realistic applications, method measuring deformation must be implemented active control. this end, study, we incorporate sensor design bend-sensitive film to ER actuator. The actuator was tested its ability simultaneously actuate sense state under indentation. results show that bend can accurately track displacement over stroke. Thus, may enable control of output according displacement, which lead more informed engaging kinesthetic tactile feedback.