fig8

Figure 8. A closed-loop human-machine interface with flexible haptic actuators for wearable devices^[38]. (A) Illustration of the closed-loop interface, connecting machine sensing, human control, and haptic feedback; (B) An actuator without pressure-amplification structures shown before (OFF) and after (ON) voltage application; (C) Front and side views of the actuator mounted on a finger; (D) An actuator array integrated with fabric, showing top (left) and bottom (right) views, with inserts detailing the array layout and pressure-amplification structure; (E) The actuator demonstrating mechanical robustness under bending, twisting, and stretching without applied voltage. Scale bars: 2 mm (B), 10 mm (C), 1 mm (D, insert), 3 mm (E).