Highly polarized piezoelectret embedded versatile haptic devices for immersive human-robot interactions

The seamless integration and remote operation of flexible sensors and actuators is the critical aspect for the future human-machine interaction. Herein, multifunctional piezoelectret haptic interaction devices that combines static/dynamic pressure sensing and haptic feedback vibrating characteristics are proposed to realize the haptic synaesthesia between the human hand and the robotic hand, and to broaden the human haptic concepts. The artificial piezoelectret film embedded into a universal arch structure is innovatively proposed to achieve high remnant polarization and ensure the resulting haptic device performance, including the dynamic sensitivity of 323.5 pC/kPa and working frequency band of 360 Hz for dynamic pressure sensors, the static sensitivity of 171 mV/kPa and stable static sensing capability for over 10 minutes for static pressure sensors, and the strong vibration of 60 mN/100 V_p-p and preload characteristic of 6 N for haptic actuators. The bidirectional information communication between sensors and actuators can be used for many fascinating applications, such as dexterously manipulating a robotic hand with the assistance of pressure haptic feedback, or providing real-time physiological data with the assistance of telemedicine robot, which have been preliminarily demonstrated in this study. These innovative versatile haptic devices can effectively improve the haptic performance of the robotic hand to serve as a physical extension of the human hand, and can be easily transplanted into other wearable devices to expand more practical applications.