FlexHapComm: A Flexible Wearable Haptic Interface with Dynamically Programmable Shape-Morphing Patterns Enabling Bidirectional Communication

Haptic feedback with bidirectional communication can effectively enhance the realism and immersion in human-machine interaction. In this work, we propose the FlexHapComm interface, a flexible wearable haptic communication interface that functions as an electronic-skin system. It enables dynamically programmable shape-morphing haptic feedback patterns and supports real-time bidirectional haptic interaction by cointegrating actuation and sensing units. The interface designs an array of hydraulic amplified self-healing electrostatic (HASEL) actuators, each with a diameter of 8 mm and capable of generating up to 150 mN of haptic feedback force. Meanwhile, sponge-like pressure sensors are integrated to provide relatively good sensitivity and excellent mechanical compliance suitable for skin-mounted operation. A multichannel programmable control system independently drives and regulates the actuation and sensing units, allowing precise and synchronized bidirectional haptic communication. Interpersonal interaction experiments verify the high-accuracy transmission and perception of tactile signals, while applications such as gesture training and sign language learning demonstrate the potential of haptic feedback for real-time corrective guidance. This study provides a new technological paradigm for skin-wearable communication platforms, opening a promising avenue toward natural, efficient, and immersive tactile interaction.