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However, current haptic technologies are often built for specific uses, highlighting the need for generalized methods that allow for reconfigurable design and control. In this article, a comprehensive framework is introduced for the design and control of modular soft robotic devices. These modules can be combined in various configurations to develop a wide range of haptic devices capable of dynamically modifying their stiffness and shape to accommodate different applications, including providing haptic feedback in virtual environments and assisting individuals with hand rehabilitation needs. The design methodology of these modules is reported and two potential use cases are presented. Furthermore, it is demonstrated that how it is possible to intuitively control the modular soft robotic devices, monitor their state, and use limited sensing capability with machine learning models to enable interpretations of interactions with users and the surrounding environment.<\/jats:p>","DOI":"10.1002\/aisy.202500142","type":"journal-article","created":{"date-parts":[[2025,6,16]],"date-time":"2025-06-16T04:52:16Z","timestamp":1750049536000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Reconfigurable Haptic Feedback: Comprehensive Design and Control Framework"],"prefix":"10.1002","volume":"7","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-2910-0027","authenticated-orcid":false,"given":"Serhat","family":"Demirtas","sequence":"first","affiliation":[{"name":"Reconfigurable Robotics Laboratory Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL)  1015 Lausanne Switzerland"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6361-4868","authenticated-orcid":false,"given":"Anke","family":"van Oosterhout","sequence":"additional","affiliation":[{"name":"Industrial Design Eindhoven University of Technology  5612 AE Eindhoven Netherlands"}]},{"given":"Rohit","family":"Kadungamparambil John","sequence":"additional","affiliation":[{"name":"Reconfigurable Robotics Laboratory Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL)  1015 Lausanne Switzerland"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3869-213X","authenticated-orcid":false,"given":"Jamie","family":"Paik","sequence":"additional","affiliation":[{"name":"Reconfigurable Robotics Laboratory Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL)  1015 Lausanne Switzerland"}]}],"member":"311","published-online":{"date-parts":[[2025,6,16]]},"reference":[{"key":"e_1_2_10_2_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41467-023-41708-6"},{"key":"e_1_2_10_3_1","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2022.3202986"},{"key":"e_1_2_10_4_1","doi-asserted-by":"publisher","DOI":"10.1002\/rcs.2605"},{"key":"e_1_2_10_5_1","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202400217"},{"key":"e_1_2_10_6_1","doi-asserted-by":"publisher","DOI":"10.1109\/TOH.2022.3144581"},{"key":"e_1_2_10_7_1","doi-asserted-by":"publisher","DOI":"10.1038\/s42256-019-0125-1"},{"key":"e_1_2_10_8_1","doi-asserted-by":"crossref","unstructured":"E.Whitmire H.Benko C.Holz E.Ofek M.Sinclair inProc. of the 2018 CHI Conf. on Human Factors in Computing Systems.ACM Montreal QC Canada2018 pp.1\u201312 ISBN 978\u20101\u20104503\u20105620\u20106.","DOI":"10.1145\/3173574.3173660"},{"key":"e_1_2_10_9_1","doi-asserted-by":"crossref","unstructured":"I.Choi E. 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