Soft vibrotactile devices have the potential to expand
the functionality
of emerging electronic skin technologies. However, those devices often
lack the necessary overall performance, sensing-actuation feedback
and control, and mechanical compliance for seamless integration on
the skin. Here, we present soft haptic electromagnetic actuators that
consist of intrinsically stretchable conductors, pressure-sensitive
conductive foams, and soft magnetic composites. To minimize joule
heating, high-performance stretchable composite conductors are developed
based on in situ-grown silver nanoparticles formed within the silver
flake framework. The conductors are laser-patterned to form soft and
densely packed coils to further minimize heating. Soft pressure-sensitive
conducting polymer-cellulose foams are developed and integrated to
tune the resonance frequency and to provide internal resonator amplitude
sensing in the resonators. The above components together with a soft
magnet are assembled into soft vibrotactile devices providing high-performance
actuation combined with amplitude sensing. We believe that soft haptic
devices will be an essential component in future developments of multifunctional
electronic skin for future human–computer and human–robotic
interfaces.