3D-ElectroZip touch: multi-directional haptic feedback with electro-ribbon zipping actuators

This paper introduces the 3D-ElectroZip Touch, a multi-directional force feedback device developed using dielectrophoretic liquid zipping actuation. The device is designed to stimulate the sense of normal and shear forces by moving in vertical and multiple horizontal directions. Its performance, including displacement, force, and actuation time has been characterized under input voltages from 6 kV to 9 kV, demonstrating a displacement range of 5–11 mm, force range of 0.05 N to 0.22 N, power output ranges from 0.08 W to 0.077 W, and maximum energy efficiency of 72%. The 3D-ElectroZip Touch shows a quick response to the input signal, moving its contact panel by 1.1 mm in 70 ms (36.5% of human reaction time) at 9 kV. Comparing its basic characteristics with the skin sensitivity and the lightweight, compliance, and scalability of the 3D-ElectroZip Touch technology show its high potential to be exploited in tactile displays and wearable haptic feedback devices.