A Wearable Stiffness-Rendering Haptic Device with a Honeycomb Jamming Mechanism for Bilateral Teleoperation

2026-08-03

AI Summary

This work addresses the challenges of absent kinesthetic feedback and difficulty in perceiving remote object stiffness in bilateral teleoperation by introducing HJ-Haptic, a lightweight wearable haptic device based on a honeycomb jamming mechanism. For the first time, the honeycomb jamming principle is applied to wearable stiffness rendering, enabling a broad stiffness modulation range of 1.15–2.64 N/mm under vacuum-induced negative pressure while maintaining an ultralight weight of only 20 grams. Integrated within a bilateral teleoperation control framework and validated through three-point bending tests, the system demonstrates low RMSE and high correlation in force, motion, and stiffness feedback during teleoperation tasks. This effectively replicates the tactile experience of bare-handed grasping, achieving a compelling balance between safety and immersion.

Abstract

This paper addresses the challenge of providing kinesthetic feedback in bilateral teleoperation by designing a wearable, lightweight (20 g), and compact haptic device, the HJ-Haptic, utilizing a honeycomb jamming mechanism for object stiffness rendering. The HJ-Haptic device can vary its stiffness, from 1.15 N/mm to 2.64 N/mm, using a 30 kPa vacuum pressure. We demonstrate its implementation in a teleoperation framework, enabling operators to adjust grip force based on a reliable haptic feedback on object stiffness. A three-point flexural test on the honeycomb jamming mechanism and teleoperated object-grasping tasks were conducted to evaluate the device's functionality. Our experiments demonstrated a small RMSE and strong correlations in teleoperated motion, stiffness rendering, and interaction force feedback. The HJ-Haptic effectively adjusts its stiffness in response to real-time gripper feedback, mimicking the sensation of direct object grasping with hands. The device's use of vacuum pressure ensures operator safety by preventing dangerous outcomes in case of gas leakage or material failure. Incorporating the HJ-Haptic into the teleoperation framework provided the reliable perception of object stiffness and stable teleoperation. This study highlights the potential of the honeycomb jamming mechanism for enhancing haptic feedback in various applications, including teleoperation scenarios, as well as interactions with extended-reality environments.

Problem

• bilateral teleoperation
• kinesthetic feedback
• stiffness rendering
• haptic device
• object stiffness perception

Innovation

• honeycomb jamming
• stiffness rendering
• wearable haptics
• bilateral teleoperation
• vacuum-based actuation