Dual-Modal Haptic Device Using AC Voltage-Driven Electrohydraulic Actuators for Teleoperated Robotic Grasping
Dannuo Li, Quan Xiong, Xuanyi Zhou, Gavril Yong En Tan, Raye Chen-Hua Yeow
Abstract
Developing haptic devices with advanced haptic rendering capabilities is challenging due to the limitations in current actuation mechanisms. This paper presents 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. Furthermore, to demonstrate the practical applicability, this article also presents a teleoperated robotic system incorporating the haptic device, providing real-time haptic feedback for remote grasping tasks.
BibTeX
@inproceedings{ral2025_dualmodalhapticd,
title = {Dual-Modal Haptic Device Using AC Voltage-Driven Electrohydraulic Actuators for Teleoperated Robotic Grasping},
author = {Dannuo Li and Quan Xiong and Xuanyi Zhou and Gavril Yong En Tan and Raye Chen-Hua Yeow},
booktitle = {RA-L 2025},
year = {2025}
}