Actuators for Haptic and Tactile Stimulation Applications

A special issue of Actuators (ISSN 2076-0825). This special issue belongs to the section "Actuators for Robotics".

Deadline for manuscript submissions: 15 January 2026 | Viewed by 2636

Special Issue Editors


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Guest Editor
Department of Electronic and Electrical Engineering, University of Bath, Bath, UK
Interests: microelectronics; micro electromechanical systems mems; energy harvesting
Special Issues, Collections and Topics in MDPI journals

E-Mail Website
Guest Editor
Department of Electronic and Electrical Engineering, University of Bath, Bath, UK
Interests: robotics; human–robot Interaction; tactile perception; multimodal wearable robots; assistive robotics; machine learning
Special Issues, Collections and Topics in MDPI journals

Special Issue Information

Dear Colleagues,

Sensory substitution devices (SSDs) based on tactile sensation enhance human perception in applications such as assistive technologies. Over the last decade, the utilization of this technology in diverse applications such as robotic surgery, navigation on steering wheel, communication of emotion via internet, human–robot interaction and collaboration has attracted researchers’ attention. Intelligent algorithms have also been developed to enhance perception in SSDs. This has imposed certain challenges in hardware design for tactile actuators such as spatial/temporal resolution, power consumption and, most importantly, scalability and affordability of the suggested techniques.

This Special Issue will present most recent research activities relating to hardware modeling, developments, associated intelligent algorithms/firmware and tactile actuator tests. Common transduction mechanisms such as those that are electromagnetic, piezoelectric, electrotactile and pneumatic will be included, with an emphasis on tactile actuators and test procedures developed in the recent years. We wish to invite researchers from different disciplines to submit their most updated works regarding this topic, which will hopefully derive a holistic approach to improve the success rate in tactile perception with scalable and affordable solutions.

The scope of this Special Issue will focus on the following:

  • Design and manufacturing of new tactile actuators;
  • Modeling the skin–actuator interface;
  • End-user experiences in augmented reality, robotic surgery and manipulation;
  • Communication of emotion in cyber-media, automotive informatics, human–robot interaction/collaboration;
  • Participatory test scenarios with an emphasis on end-user communities;
  • Scalable and affordable engineering design of actuators.

Dr. Ali Mohammadi
Dr. Uriel Martinez-Hernandez
Guest Editors

Manuscript Submission Information

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Keywords

  • tactile actuators
  • tactile perception
  • transduction mechanisms
  • tactile sensing
  • robotics
  • manipulation
  • human–robot interaction/collaboration
  • assistive devices
  • autonomous systems
  • machine learning

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Published Papers (2 papers)

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Research

12 pages, 5939 KiB  
Article
Design and Performance Evaluation with an Open-Loop Force Controller for a Delta-Type Haptic Device with Magnetorheological Fluid Actuator
by Takehito Kikuchi, Asaka Ikeda and Isao Abe
Actuators 2025, 14(3), 122; https://doi.org/10.3390/act14030122 - 3 Mar 2025
Viewed by 544
Abstract
Magnetorheological fluids (MRFs) are functional fluids that exhibit rapid and reproducible rheological responses to external magnetic fields. MRFs have been used to develop haptic devices with fine haptic information for teleoperated surgical systems. To achieve this, we developed various compact MRF clutches for [...] Read more.
Magnetorheological fluids (MRFs) are functional fluids that exhibit rapid and reproducible rheological responses to external magnetic fields. MRFs have been used to develop haptic devices with fine haptic information for teleoperated surgical systems. To achieve this, we developed various compact MRF clutches for haptics and integrated them into a twin-driven MRF actuator (TD-MRA). Several types of TD-MRAs were developed in prior studies. This study used three sets of TD-MRAs to construct a haptic device with a delta-type linkage system that displays a three-dimensional (3D) force vector for users in virtual reality or teleoperation systems. We described the kinematic design of the linkage system based on the torque performance of the TD-MRA and evaluated the output force performance using an open-loop force controller. The haptic interface was designed to achieve greater than 2 N of output forces and a motion range of ±50 mm. Experimental results demonstrated an average error of 0.1 N, indicating that the open-loop controller performed effectively in all directions at the tested platform positions. Full article
(This article belongs to the Special Issue Actuators for Haptic and Tactile Stimulation Applications)
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15 pages, 17738 KiB  
Article
Assessing the Impact of Force Feedback in Musical Knobs on Performance and User Experience
by Ziyue Piao, Christian Frisson, Bavo Van Kerrebroeck and Marcelo M. Wanderley
Actuators 2024, 13(11), 462; https://doi.org/10.3390/act13110462 - 16 Nov 2024
Viewed by 1316
Abstract
This paper examined how rotary force feedback in knobs can enhance control over musical techniques, focusing on both performance and user experience. To support our study, we developed the Bend-aid system, a web-based sequencer with pre-designed haptic modes for pitch modulation, integrated with [...] Read more.
This paper examined how rotary force feedback in knobs can enhance control over musical techniques, focusing on both performance and user experience. To support our study, we developed the Bend-aid system, a web-based sequencer with pre-designed haptic modes for pitch modulation, integrated with TorqueTuner, a rotary haptic device that controls pitch through programmable haptic effects. Then, twenty musically trained participants evaluated three haptic modes (No-force feedback (No-FF), Spring, and Detent) by performing a vibrato mimicry task, rating their experience on a Likert scale, and providing qualitative feedback in post-experiment interviews. The study assessed objective performance metrics (Pitch Error and Pitch Deviation) and subjective user experience ratings (Comfort, Ease of Control, and Helpfulness) of each haptic mode. User experience results showed that participants found force feedback helpful. Performance results showed that the Detent mode significantly improved pitch accuracy and vibrato stability compared to No-FF, while the Spring mode did not show a similar improvement. Post-experiment interviews showed that preferences for Spring and Detent modes varied, and the applicants provided suggestions for future knob designs. These findings suggest that force feedback may enhance both control and the experience of control in rotary knobs, with potential applications for more nuanced control in DMIs. Full article
(This article belongs to the Special Issue Actuators for Haptic and Tactile Stimulation Applications)
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