Notable advancements have been achieved in providing amputees with sensation through invasive and non-invasive haptic feedback systems such as mechano-, vibro-, electro-tactile and hybrid systems. Purely mechanical-driven feedback approaches, however, have been little explored. In this paper, we now created a haptic feedback system that does not require any external power source (such as batteries) or other electronic components (see Fig. 1 ). The system is low-cost, lightweight, adaptable and robust against external impact (such as water). Hence, it will be sustainable in many aspects. We have made use of latest multi-material 3D printing technology (Stratasys Objet500 Connex3) being able to fabricate a soft sensor and a mechano-tactile feedback actuator made of a rubber (TangoBlack Plus) and plastic (VeroClear) material. When forces are applied to the fingertip sensor, fluidic pressure inside the system acts on the membrane of the feedback actuator resulting in mechano-tactile sensation. Our $\varnothing 7\,\mathrm{mm}$ feedback actuator is able to transmit a force range between $0.2\,\mathrm{N}$ (the median touch threshold) and $2.1\,\mathrm{N}$ (the maximum force transmitted by the feedback actuator at a $3\,\mathrm{mm}$ indentation) corresponding to force range exerted to the fingertip sensor of $1.2-18.49\,\mathrm{N}$.

中文翻译：

---

用于机械触觉反馈的流体触觉界面

通过侵入性和非侵入性触觉反馈系统，如机械、振动、电触觉和混合系统，在为截肢者提供感觉方面取得了显着进步。然而，纯机械驱动的反馈方法很少被探索。在本文中，我们现在创建了一个不需要任何外部电源（如电池）或其他电子元件的触觉反馈系统（见图。1）。该系统成本低、重量轻、适应性强且能抵抗外部冲击（例如水）。因此，它将在许多方面具有可持续性。我们利用最新的多材料 3D 打印技术 (Stratasys Objet500 Connex3) 能够制造由橡胶 (TangoBlack Plus) 和塑料 (VeroClear) 材料制成的软传感器和机械触觉反馈执行器。当对指尖传感器施加力时，系统内的流体压力作用在反馈致动器的膜上，从而产生机械触觉。我们的$\varnothing 7\,\mathrm{mm}$ 反馈执行器能够在之间传递一个力范围 $0.2\,\mathrm{N}$ （中位触摸阈值）和 $2.1\,\mathrm{N}$ （反馈执行器在某一时刻传递的最大力 $3\,\mathrm{mm}$ 压痕）对应于施加到指尖传感器的力范围 $1.2-18.49\,\mathrm{N}$.