We present a novel, simple method for creating reconfigurable 6-degree-of-freedom (DOF) tangible interfaces using diametrically magnetized cylindrical magnetic chains, termed Mag-Chains. These paired magnets support stable 3-DOF motions—bending, twisting, and sliding—with passive restoring forces, while constraining other axes. This enables rich multi-magnet dynamics and expands the design space for magnetic structures. We experimentally characterize Mag-Chains behavior across multiple design parameters and summarize practical design guidelines. We also integrate sensing using either 6-DOF optical tracking or simple contact switches. Building upon these findings, we developed a fully functional 6-DOF tangible input device featuring a large workspace and passive haptic feedback along all six axes—three translational and three rotational. To demonstrate versatility, we present three applications: interactive toys, a clip-on joystick with mobile camera tracking, and a miniature finger-worn controller. Our results highlight the potential of Mag-Chains as a compact platform for building sensor-integrated and reconfigurable tangible interfaces with rich motion expressiveness.

Miniaturization of robotic grippers enables precise manipulation of small-size objects. However, most microgrippers are actuated by rigid actuators, and thus retain challenges such as micro-fabrication, complex structure, and lack of compliance. Here, we present a compliant microgripper driven by a soft polymer actuator. The proposed millimeter-scale soft polymer actuator can produce a linear displacement and output force with a fast operation. Then, we designed the gripper linkage to convert the linear displacement of the actuator into a gripping motion. Fabricated compliant microgripper has a size of$\boldsymbol{10\times 10\times 10}\ \mathbf{mm}^{3}$and a weight of 0.36 g, with a maximum gripping width of 8 mm. Demonstration of the gripper shows the feasibility of gripping various sub-millimeter scale objects regardless of their shape owing to its compliance.

Tendon-driven flexible endoscopic surgical robots have been developed to access narrow curved paths without incision. Robot shape information is essential for precise control and to prevent unwanted tissue damage. In this paper, we propose a joint angle sensing method using coiled soft sensors to estimate the shape of the hyperredundant manipulator, which is commonly used in flexible endoscopic surgical robots. The soft sensors can be fabricated with small size and are highly stretchable, such that by being pre-stretched, they can be integrated between individual joints, maintain a center hollow, and sense both compression and extension. The pre-stretch length is experimentally selected by using the sensor linearity to maximize the potential sensitivity. We validated the proposed design using a two-degree of freedom (DOF) single joint manipulator by implementing two sensors; sensors at all joints could sense joint angle independently and simultaneously with a root-mean-square error (RMSE) less than 2.53°. Based on the proposed method, a two-DOF configuration of the hyperredundant manipulator that can be used in real applications was achieved, following a constant curvature model in real time with values RMSE of 2.30° and 2.63°, for pitch and yaw joint angle respectively.

In this paper, we report a self-sensing soft tactile actuator based on Dielectric elastomer actuator (DEA) for wearable haptic interface. DEAs are one of electroactive polymer actuators, which are reported to have large area strain and fast response speed. A soft tactile actuator is constructed of a multi-layered DEA membrane layer, a passive membrane layer, and an inner circular pillar. The soft actuator was optimized by varying the geometry, and the force and displacement tests were conducted under a frequency range of 0 to 30 Hz. The selected actuator produces an output force up to 0.9 N, with a displacement of 1.43 mm. To provide accurate physical force feedback to the user, the actuator is integrated with a 1.1 mm thick film-type soft force sensor that enables feedback control. Under the pressure, touch layer contacts with the core, and the light inside the core scatters to the touch layer. A fabricated soft force sensor can measure the force in a range of 0 to 1.25 N under various frequency ranges. Our wearable prototype exhibits high output force of 0.9 N, as well as flexibility, conformity, and light-weight structure (3.2 g).