Development of a flexible fabric-based variable shape actuator for enhanced multi-DoF haptic feedback.

Conventional haptic feedback devices that rely on rigid components to achieve multiple degrees of freedom (DoF) often result in bulky, complex systems that hinder natural movement and increase user discomfort. This study addresses these limitations by substituting rigid materials with flexible, fabric-based materials to develop a variable shape actuator (VSA). The VSA is designed to provide multi-DoF haptic feedback by integrating contraction and expansion mechanisms within a lightweight, fabric structure.