Soft Flexible Magnetic Micro-Structures for a Haptic Surface

Haptic surfaces can convey substantial tactile information, benefiting diverse applications such as robotic teleoperation, medical simulation, virtual reality (VR), and education. A critical challenge in haptic device technology is generating haptic sensations associated with mechanical compliance. Employing soft materials for adaptable interfaces that dynamically alternate between soft and hard tactile feedback further complicates this challenge. In this study, we address stiffness-controlled feedback through the design and fabrication of magnetically actuatable micro-structures using a UV-curable magnetic elastomer. These micro-structures, covered by a thin magnetic elastomer layer, form a pad that functions as an encounter-type haptic display when magnetically stimulated. User evaluations demonstrated clear differentiation in perceived softness, confirming the effectiveness of the designed haptic interface.