In the last decade, several new haptic devices have been developed, contributing to the definition of more realistic virtual environments. An overview of this topic requires a description of the various technologies employed in building such devices, and of their application domains. This survey describes the current technology underlying haptic devices, based on the concept of “wearability level”. It reviews more than 90 devices newly developed and described in scientific papers published in the period 2010-2021. The reviewed devices provide either haptic illusions or novel haptic feedback for teleoperation, entertainment, training, education, guidance and notification. They are categorized into grounded, hand-held and wearable devices; the latter are further split into exoskeletons and gloves, finger-worn devices, and arm-worn devices. For the systems in each of these categories, descriptions and tables are provided that analyze their structure, including device mass and employed actuators, their applications, and other characteristics such as type of haptic feedback and tactile illusions. The survey also provides an overview of devices worn in parts of the human body other than arms and hands, and precisely haptic vests, jackets and belts, and haptic devices for head, legs and feet. Finally, the paper discusses research gaps and challenges, and potential future directions.

Negative stiffness honeycombs (NSHs) have multiple advantages compared to traditional honeycomb structures. These advantages include recoverable elastic buckling, shock absorption, and vibration isolation. As a result, NSHs have great potential in applications such as acoustic wave guiding, shape morphing, design of impact-protection devices and robotic grippers. In this paper, we present a design methodology for metamaterial consisting of negative stiffness beams assembled in a honeycomb structure. Based on analytical results, our methodology allows designing NSH mesostructures with predetermined buckling sequence. An NSH prototype was designed based on our algorithm and fabricated using a 3D printer with a nylon filament. The validity of our approach was experimentally verified by performing displacement controlled compression force measurements. Our methodology gives the ability to design NSH mesostructures with desired force–displacement characteristics.

Accurate and fast contact detection between a robot manipulator and objects is crucial for safe robot–object and human–robot interactions. Traditional collision detection techniques relied on force–torque sensors and Columb friction cone estimation. However, the strain gauges used in the conventional force sensors require low-noise and high-precision electronics to deliver the signal to the final user. The Signal-to-Noise Ratio (SNR) in these devices is still an issue in light contact detection. On the other hand, the Eccentric Rotating Mass (ERM) motors are very sensitive to subtle touch as their vibrating resonant state loses immediately. The vibration, in this case, plays a core role in triggering the tactile event. This project’s primary goal is to use generated and received vibrations to establish the scope of object properties that can be obtained through low-frequency generation on one end and Fourier analysis of the accelerometer data on the other end. The main idea behind the system is the phenomenon of change in vibration propagation patterns depending on the grip properties. Moreover, the project’s original aim is to gather enough information on vibration feedback on objects of various properties and compare them. These data sets are further analyzed in terms of frequency and applied grip force correlations in order to prepare the ground for pattern extraction and recognition based on the physical properties of an object.

Deafblindness is a unique disability characterized by a dual sensory reduction of both hearing and vision. For some Deafblind individuals, communication via touch may be their most accessible sensory channel. Multiple techniques that rely purely on touch exist within the Deafblind community. One method of interest referred to as “Deafblind Tactile Fingerspelling Alphabet” in Australia or “Deafblind Manual Alphabet” in the U.K., comprises twenty-six tactile symbols representing the letters of the Latin alphabet. This letter describes the HaptiComm, a device designed to reproduce the sensations generated during fingerspelling communication. The HaptiComm comprises an array of twenty-four strategically placed electrodynamic actuators specifically designed to produce distinct tactile sensations upon which the fingerspelling alphabet is constructed. The first experimental evaluation showed promising results suggesting further investigations related to the timing and the pace at which the stimuli are produced.

Haptic interfaces allow a more realistic experience with Virtual Reality (VR). They are used to manipulate virtual objects. These objects can be rigid and soft. In this letter, we have designed and evaluated a vibrotactile hand-held device (VibeRo) to achieve haptic cues of different soft objects. The proposed method is based on combining the vision-driven displacement produced by the pseudo-haptics effect with the haptic illusion of a limb displacement obtained from force-driven synthesis of vibration of a contact surface. VibeRo features a voice-coil actuator and force-sensitive resistors for generating squeeze forces at fingertips. We present an evaluation of VibeRo's pseudo-haptic and haptic illusion effects to render soft virtual objects. The efficacy of the approach was validated in experiments with human subjects and benchmarked using ANOVA.