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Providing haptic information is crucial for improving usability in applications like prosthetics. Soft actuators have the potential to deliver modality\u2010matched feedback and high compression forces in a compact form. However, their full potential has been partially demonstrated. This study presents a soft inflatable actuator utilizing thermoplastic polyurethane to provide rich multimodal sensory feedback, including pressure and vibration. The actuator weighs less than 2\u2009g and is 0.4\u2009mm thick, significantly improving upon previous designs. Mechanical characterization reveals that the actuator can produce high\u2010bandwidth vibrations (200\u2009Hz) and high forces (28\u2009Newtons at 60\u2009kPa). Psychometric tests, conducted with 14 able\u2010bodied individuals and three transradial amputees, show performance comparable to state\u2010of\u2010the\u2010art invasive and noninvasive solutions (Weber constants within 0.19\u20130.22). Additionally, the actuator successfully provides different artificial roughness sensations in able\u2010bodied individuals. Finally, amputees achieve\u00a0an overall accuracy of 73.3% in a classification task, with dominant sensations of touch and pressure (45% of the stimuli). These results demonstrate that the proposed soft feedback actuator is effective, versatile, and lightweight, with potential for integration into robotic systems for feedback restoration and augmentation.<\/jats:p>","DOI":"10.1002\/aisy.202500262","type":"journal-article","created":{"date-parts":[[2025,6,17]],"date-time":"2025-06-17T15:40:39Z","timestamp":1750174839000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["An Ultrathin and Lightweight Soft Inflatable Actuator for Natural Tactile Sensory Feedback"],"prefix":"10.1002","volume":"7","author":[{"given":"Hanna","family":"Scherer","sequence":"first","affiliation":[{"name":"The Biorobotics Institute and Department of Excellence in Robotics &amp; AI Scuola Superiore Sant\u2019Anna  56127 Pisa Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Francesco","family":"Iberite","sequence":"additional","affiliation":[{"name":"The Biorobotics Institute and Department of Excellence in Robotics &amp; AI Scuola Superiore Sant\u2019Anna  56127 Pisa Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Giulia","family":"Caserta","sequence":"additional","affiliation":[{"name":"Rehab Technologies Lab Istituto Italiano di Tecnologia  16163 Genova Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Nicolo","family":"Boccardo","sequence":"additional","affiliation":[{"name":"Rehab Technologies Lab Istituto Italiano di Tecnologia  16163 Genova Italy"},{"name":"Open University Affiliated\u2009Research Centre Istituto Italiano di Tecnologia (ARC@IIT)  16163 Genova Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jacopo","family":"Carpaneto","sequence":"additional","affiliation":[{"name":"The Biorobotics Institute and Department of Excellence in Robotics &amp; AI Scuola Superiore Sant\u2019Anna  56127 Pisa Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Emanuele","family":"Gruppioni","sequence":"additional","affiliation":[{"name":"Centro Protesi INAIL National Institute for Insurance against Accidents at Work  Vigorso di Budrio 40054 Bologna Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Silvestro","family":"Micera","sequence":"additional","affiliation":[{"name":"The Biorobotics Institute and Department of Excellence in Robotics &amp; AI Scuola Superiore Sant\u2019Anna  56127 Pisa Italy"},{"name":"Translational NeuroEngineering Laboratory Neuro\u2010X Institute, School of Engineering \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL)  1015 Lausanne Switzerland"},{"name":"Modular Implantable Neuroprostheses (MINE) Laboratory Universit\u00e0 Vita\u2010Salute San Raffaele  20132 Milano Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8875-8646","authenticated-orcid":false,"given":"Tommaso","family":"Proietti","sequence":"additional","affiliation":[{"name":"The Biorobotics Institute and Department of Excellence in Robotics &amp; AI Scuola Superiore Sant\u2019Anna  56127 Pisa Italy"},{"name":"Modular Implantable Neuroprostheses (MINE) Laboratory Universit\u00e0 Vita\u2010Salute San Raffaele  20132 Milano Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2025,6,17]]},"reference":[{"key":"e_1_2_9_2_1","unstructured":"E. 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