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A Wearable Pneumatic Device for Continuous, Closed-Loop, Bidirectional Tactile Interaction

arXiv · AI, language, vision and robotics · article · Sep 1, 2026 · UTC

We present a system of two wearable pneumatic haptic devices that supports continuous, closed-loop, bidirectional tactile interaction at perceptually relevant force and temporal scales. A single device can contain up to twelve pressure sensing channels connected to textile-based pneumatic pouches. Each channel in a device can be used as a sensor, an actuator, or both. As an actuator with integrated sensing, the channel generates stable skin indentation through local closed-loop control. As a sensor, a channel can be mounted (or worn) on any surface, including on a robot gripper or on the human

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