A Multi-Layer Stacked Microfluidic Tactile Display With High Spatial Resolution

Pneumatic tactile displays dynamically customize surface morphological features with reconfigurable arrays of independently addressable actuators. However, their ability to render detailed tactile patterns or fine textures is limited by the low spatial resolution. For pneumatic tactile displays, the high-density integration of pneumatic actuators within a small space (fingertip) poses a significant challenge in terms of pneumatic circuit wiring. In contrast to the structure with a single-layer layout of pipes, we propose a multi-layered stacked microfluidic pipe structure that allows for a higher density of actuators and retains their independent actuation capabilities. Based on the proposed structure, we developed a soft microfluidic tactile display with a spatial resolution of 1.25 mm. The device consists of a 5 x 5 array of independently addressable microactuators, driven by pneumatic pressure, each of which enables independent actuation of the surface film and continuous control of the height. At a relative pressure of 1000 mbar, the actuator produced a perceptible out-of-plane deformation of 0.145 mm and a force of 17.7 mN. User studies showed that subjects can easily distinguish eight tactile patterns with 96% accuracy.