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Updated: Aug 5, 2025

Four-Dimensional Printing of Stimuli-Responsive Hydrogel-Based Soft Robots

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Published on: January 13, 2023

A 3D-Printed Soft Haptic Device with Built-in Force Sensing Delivering Bio-Mimicked Feedback.

Rahim Mutlu^1,2, Dilpreet Singh³, Charbel Tawk⁴

¹Faculty of Engineering and Information Sciences, University of Wollongong in Dubai, Dubai P.O. Box 20183, United Arab Emirates.

Biomimetics (Basel, Switzerland)

|March 28, 2023

Summary

This summary is machine-generated.

This study introduces SoHapS, a novel 3D-printed haptic device for neurological rehabilitation and human-computer interfaces. It effectively substitutes biofeedback with tactile and proprioceptive information in teleoperation tasks.

Keywords:

3D printing bio-mimetics biofeedback haptics human–computer interface proprioception soft haptics soft sensing tactile feedback wearable robotics

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Area of Science:

Robotics and Human-Computer Interaction
Biomedical Engineering
Materials Science

Background:

Haptics is crucial for neurological rehabilitation and human-computer interfaces (HCIs), especially in emerging metaverse applications.
Existing haptic devices often lack the integration and low-cost manufacturability required for widespread adoption.
Soft robotics offers potential for more intuitive and adaptable haptic feedback systems.

Purpose of the Study:

To develop and characterize a novel, soft, monolithic haptic feedback device (SoHapS).
To demonstrate the device's capability in substituting biofeedback for teleoperation.
To explore SoHapS's potential applications in rehabilitation and extended reality (XR) systems.

Main Methods:

Fabrication of SoHapS using fused deposition modeling (FDM) 3D printing with soft thermoplastic polyurethane (TPU) materials.
Optimization of the soft bellow actuator and resistive force sensor using finite element modeling (FEM).
Mechanical and electrical characterization, and dynamic model development for force output prediction.

Main Results:

Successful fabrication of a soft, monolithic haptic device (SoHapS) using low-cost FDM 3D printing.
Demonstrated efficacy of SoHapS in replacing biofeedback (gripping force, finger position) during teleoperation.
Characterization confirmed device performance, and a dynamic model accurately predicted force output.

Conclusions:

SoHapS offers a unique, low-cost, and adaptable solution for haptic feedback.
The device shows significant potential for integration into rehabilitation robots, prosthetics, and AR/VR/MR systems.
SoHapS can provide essential bio-mimicked feedback, enhancing user experience and therapeutic outcomes.