Soft actuators are gaining significant attention due to their ability to provide realistic tactile sensations in various applications. However, their soft nature makes them vulnerable to damage from external factors, limiting actuation stability and device lifespan. The susceptibility to damage becomes higher with these actuators often in direct contact with their surroundings to generate tactile feedback. Upon onset of damage, the stability or repeatability of the device will be undermined. Eventually, when complete failure occurs, these actuators are disposed of, accumulating waste and driving the consumption of natural resources. This emphasizes the need to enhance the durability of soft tactile actuators for continued operation. This review presents the principles of tactile feedback of actuators, followed by a discussion of the mechanisms, advancements, and challenges faced by soft tactile actuators to realize high actuation performance, categorized by their driving stimuli. Diverse approaches to achieve durability are evaluated, including self-healing, damage resistance, self-cleaning, and temperature stability for soft actuators. In these sections, current challenges and potential material designs are identified, paving the way for developing durable soft tactile actuators.

中文翻译：

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迈向高性能和耐用的软触觉执行器

软执行器由于能够在各种应用中提供逼真的触觉而受到广泛关注。然而，它们的柔软性质使它们容易受到外部因素的损坏，限制了驱动稳定性和设备寿命。由于这些执行器经常与周围环境直接接触以产生触觉反馈，因此损坏的敏感性变得更高。一旦发生损坏，设备的稳定性或可重复性将受到损害。最终，当发生完全故障时，这些执行器将被丢弃，积累废物并导致自然资源的消耗。这强调需要增强软触觉执行器的耐用性以实现持续操作。本综述介绍了执行器的触觉反馈原理，然后讨论了软触觉执行器实现高执行性能（按驱动刺激分类）的机制、进展和挑战。评估了实现耐用性的多种方法，包括软执行器的自愈、抗损伤、自清洁和温度稳定性。在这些部分中，确定了当前的挑战和潜在的材料设计，为开发耐用的软触觉执行器铺平了道路。