Abstract
Advanced haptic feedback interfaces are essential for human-machine interaction, particularly in assistive technologies that offer versatile commands, simplify navigation, and enhance emotional interactions for individuals with visual and hearing impairments. Current systems, primarily reliant on Braille and mechanical announcements, fall short of addressing these needs. Existing haptic interfaces, while providing various haptic feedback modes, still face challenges including rigid, strong current, or high-voltage stimulation, limiting their applicability and long-term safety for widespread use. Here, the work demonstrates a flexible, integrable, and programmable haptic interface based on elastomer actuators that utilize a unique forming process to create customized local stiffness in a multilayer elastomer by varying the cross-linking density of elastomers. Complemented by tailored software, the system delivers a 4-dimensional haptic experience within a safe voltage of less than 50 V and a frequency range of 50 to 450 Hz, enabling high-fidelity emotional and navigational feedback. Demonstrations of this system achieve an average accuracy rate of 64.6% in emotional interactions without prior training, improving to 95.8% with learning mode, along with an average accuracy rate of 94.2% for 9 directional commands in navigation interactions.