{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,9,3]],"date-time":"2026-09-03T12:14:29Z","timestamp":1788437669691,"version":"build-2803163510"},"reference-count":54,"publisher":"Wiley","issue":"49","license":[{"start":{"date-parts":[[2026,7,8]],"date-time":"2026-07-08T00:00:00Z","timestamp":1783468800000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"},{"start":{"date-parts":[[2026,7,8]],"date-time":"2026-07-08T00:00:00Z","timestamp":1783468800000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/doi.wiley.com\/10.1002\/tdm_license_1.1"}],"funder":[{"DOI":"10.13039\/501100000925","name":"National Health and Medical Research Council","doi-asserted-by":"publisher","award":["RG241515"],"award-info":[{"award-number":["RG241515"]}],"id":[{"id":"10.13039\/501100000925","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["advanced.onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Advanced Science"],"published-print":{"date-parts":[[2026,9]]},"abstract":"<jats:title>ABSTRACT<\/jats:title>\n                  <jats:p>\n                    Multimodal cutaneous haptic interfaces can deliver multiple forms of mechanical stimulation and trigger different mechanoreceptors, enabling richer haptic information and realistic tactile sensations. Such interfaces have broad potential in healthcare, entertainment, and education. Electromagnetic (EM) actuators are particularly attractive for multimodal haptic systems due to their compact size, high controllability, and fast dynamic response. However, existing EM\u2010based multimodal haptic devices struggle to simultaneously achieve large displacement, high output force, and effective constraint of unwanted degrees of freedom. To address this research gap, this paper presents a new thin\u2010film compliant mechanism that exhibits high flexibility in translational motion along the X, Y, and Z axes while maintaining high stiffness against rotations about the\n                    <jats:italic>X<\/jats:italic>\n                    and\n                    <jats:italic>Y<\/jats:italic>\n                    axes. The new design enables the development of an electromagnetic multimodal haptic module capable of delivering indentation, stretch, and vibration stimuli, with the ability to superimpose vibration onto skin stretch. By integrating such two haptic modules into a wearable haptic array and employing a spatiotemporal encoding strategy, four\u2010directional haptic cues can be effectively conveyed on hairy forearm skin, achieving a mean discrimination accuracy of 79.5%. Finally, a vision\u2010guided human\u2010in\u2010the\u2010loop haptic assistance system is implemented to demonstrate feasibility in assisting visually impaired users with daily tasks.\n                  <\/jats:p>","DOI":"10.1002\/advs.76412","type":"journal-article","created":{"date-parts":[[2026,7,9]],"date-time":"2026-07-09T03:39:33Z","timestamp":1783568373000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["A Multimodal Haptic Feedback Interface with Thin\u2010Film Compliant Mechanism"],"prefix":"10.1002","volume":"13","author":[{"given":"Jingjing","family":"Wan","sequence":"first","affiliation":[{"name":"School of Biomedical Engineering Faculty of Engineering UNSW Sydney  Sydney New South Wales Australia"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Emanuele","family":"Nicotra","sequence":"additional","affiliation":[{"name":"School of Biomedical Engineering Faculty of Engineering UNSW Sydney  Sydney New South Wales Australia"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"James","family":"Davies","sequence":"additional","affiliation":[{"name":"School of Biomedical Engineering Faculty of Engineering UNSW Sydney  Sydney New South Wales Australia"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Kefan","family":"Zhu","sequence":"additional","affiliation":[{"name":"School of Biomedical Engineering Faculty of Engineering UNSW Sydney  Sydney New South Wales Australia"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Quang Anh","family":"Nguyen","sequence":"additional","affiliation":[{"name":"School of Mechanical and Manufacturing Engineering Faculty of Engineering UNSW Sydney  Sydney New South Wales Australia"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Sinuo","family":"Zhao","sequence":"additional","affiliation":[{"name":"School of Mechanical and Manufacturing Engineering Faculty of Engineering UNSW Sydney  Sydney New South Wales Australia"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8113-5163","authenticated-orcid":false,"given":"Chi Cong","family":"Nguyen","sequence":"additional","affiliation":[{"name":"School of Mechanical and Manufacturing Engineering Faculty of Engineering UNSW Sydney  Sydney New South Wales Australia"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Bibhu","family":"Sharma","sequence":"additional","affiliation":[{"name":"School of Biomedical Engineering Faculty of Engineering UNSW Sydney  Sydney New South Wales Australia"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Adrienne","family":"Ji","sequence":"additional","affiliation":[{"name":"School of Biomedical Engineering Faculty of Engineering UNSW Sydney  Sydney New South Wales Australia"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hermione","family":"Truong","sequence":"additional","affiliation":[{"name":"School of Biomedical Engineering Faculty of Engineering UNSW Sydney  Sydney New South Wales Australia"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Patrick","family":"Pruscino","sequence":"additional","affiliation":[{"name":"School of Biomedical Engineering Faculty of Engineering UNSW Sydney  Sydney New South Wales Australia"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Tan","family":"Huynh","sequence":"additional","affiliation":[{"name":"School of Biomedical Engineering Faculty of Engineering UNSW Sydney  Sydney New South Wales Australia"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Phuoc Thien","family":"Phan","sequence":"additional","affiliation":[{"name":"School of Biomedical Engineering Faculty of Engineering UNSW Sydney  Sydney New South Wales Australia"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1724-5667","authenticated-orcid":false,"given":"Hoang\u2010Phuong","family":"Phan","sequence":"additional","affiliation":[{"name":"School of Mechanical and Manufacturing Engineering Faculty of Engineering UNSW Sydney  Sydney New South Wales Australia"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Nigel Hamilton","family":"Lovell","sequence":"additional","affiliation":[{"name":"School of Biomedical Engineering Faculty of Engineering UNSW Sydney  Sydney New South Wales Australia"},{"name":"Tyree Institute of Health Engineering (IHealthE) UNSW Sydney  Sydney New South Wales Australia"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Thanh Nho","family":"Do","sequence":"additional","affiliation":[{"name":"School of Biomedical Engineering Faculty of Engineering UNSW Sydney  Sydney New South Wales Australia"},{"name":"Tyree Institute of Health Engineering (IHealthE) UNSW Sydney  Sydney New South Wales Australia"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2026,7,8]]},"reference":[{"key":"e_1_2_11_2_1","doi-asserted-by":"publisher","DOI":"10.1038\/s44222\u2010025\u201000274\u2010w"},{"key":"e_1_2_11_3_1","doi-asserted-by":"publisher","DOI":"10.1038\/s44287\u2010024\u201000089\u20108"},{"key":"e_1_2_11_4_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.mtphys.2021.100602"},{"key":"e_1_2_11_5_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41928\u2010023\u201001115\u20107"},{"key":"e_1_2_11_6_1","doi-asserted-by":"publisher","DOI":"10.1002\/adfm.202417906"},{"key":"e_1_2_11_7_1","doi-asserted-by":"publisher","DOI":"10.1186\/s12984\u2010015\u20100055\u2010z"},{"key":"e_1_2_11_8_1","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2019.2920602"},{"key":"e_1_2_11_9_1","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2020.2987603"},{"key":"e_1_2_11_10_1","doi-asserted-by":"publisher","DOI":"10.1002\/rcs.1625"},{"key":"e_1_2_11_11_1","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202400197"},{"key":"e_1_2_11_12_1","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2015.2491327"},{"key":"e_1_2_11_13_1","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2018.2846814"},{"key":"e_1_2_11_14_1","doi-asserted-by":"publisher","DOI":"10.3389\/fnbot.2021.617636"},{"key":"e_1_2_11_15_1","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202400266"},{"key":"e_1_2_11_16_1","doi-asserted-by":"publisher","DOI":"10.3390\/s21227638"},{"key":"e_1_2_11_17_1","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202300875"},{"key":"e_1_2_11_18_1","doi-asserted-by":"publisher","DOI":"10.1109\/TOH.2019.2915075"},{"key":"e_1_2_11_19_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41928\u2010022\u201000765\u20103"},{"key":"e_1_2_11_20_1","doi-asserted-by":"publisher","DOI":"10.1109\/TOH.2020.2996748"},{"key":"e_1_2_11_21_1","doi-asserted-by":"crossref","unstructured":"L.Kuang M.Aggravi P. R.Giordano andC.Pacchierotti \u201cWearable Cutaneous Device For Applying Position\/Location Haptic Feedback In Navigation Applications \u201d2022 IEEE Haptics Symposium (HAPTICS)(IEEE 2022) 1\u20136.","DOI":"10.1109\/HAPTICS52432.2022.9765619"},{"key":"e_1_2_11_22_1","doi-asserted-by":"publisher","DOI":"10.1109\/TOH.2016.2582481"},{"key":"e_1_2_11_23_1","doi-asserted-by":"crossref","unstructured":"H.\u2010C.Wang R. K.Katzschmann S.Teng B.Araki L.Giarr\u00e9 andD.Rus \u201cEnabling Independent Navigation for Visually Impaired People Through a Wearable Vision\u2010Based Feedback System \u201d2017 IEEE International Conference On Robotics And Automation (ICRA) (IEEE 2017) 6533\u20136540.","DOI":"10.1109\/ICRA.2017.7989772"},{"key":"e_1_2_11_24_1","doi-asserted-by":"publisher","DOI":"10.1109\/TOH.2020.3009581"},{"key":"e_1_2_11_25_1","doi-asserted-by":"publisher","DOI":"10.1109\/TOH.2020.2973135"},{"key":"e_1_2_11_26_1","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202200282"},{"key":"e_1_2_11_27_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2009.2033627"},{"key":"e_1_2_11_28_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41583\u2010021\u201000489\u2010x"},{"key":"e_1_2_11_29_1","doi-asserted-by":"publisher","DOI":"10.1126\/science.adt2481"},{"key":"e_1_2_11_30_1","doi-asserted-by":"publisher","DOI":"10.1109\/TOH.2021.3104216"},{"key":"e_1_2_11_31_1","doi-asserted-by":"crossref","unstructured":"D.Leonardis M.Solazzi I.Bortone andA.Frisoli \u201cA Wearable Fingertip Haptic Device with 3 DoF Asymmetric 3\u2010RSR Kinematics \u201d2015 IEEE World Haptics Conference (WHC)(IEEE 2015) 388\u2013393.","DOI":"10.1109\/WHC.2015.7177743"},{"key":"e_1_2_11_32_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3140132"},{"key":"e_1_2_11_33_1","doi-asserted-by":"crossref","unstructured":"D.TrinitatovaandD.Tsetserukou \u201cDeltatouch: A 3D Haptic Display for Delivering Multimodal Tactile Stimuli at the Palm \u201d2019 IEEE World Haptics Conference (WHC)(IEEE 2019):73\u201378.","DOI":"10.1109\/WHC.2019.8816136"},{"key":"e_1_2_11_34_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3144798"},{"key":"e_1_2_11_35_1","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2024.3376753"},{"key":"e_1_2_11_36_1","doi-asserted-by":"crossref","unstructured":"Z.ZhakypovandA. M.Okamura \u201cFingerPrint: A 3\u2010D Printed Soft Monolithic 4\u2010Degree\u2010of\u2010Freedom Fingertip Haptic Device with Embedded Actuation \u201d2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)(IEEE 2022) 938\u2013944.","DOI":"10.1109\/RoboSoft54090.2022.9762107"},{"key":"e_1_2_11_37_1","doi-asserted-by":"publisher","DOI":"10.1109\/TOH.2024.3365669"},{"key":"e_1_2_11_38_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2025.3593084"},{"key":"e_1_2_11_39_1","doi-asserted-by":"publisher","DOI":"10.1002\/admt.202201453"},{"key":"e_1_2_11_40_1","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.201900138"},{"key":"e_1_2_11_41_1","doi-asserted-by":"publisher","DOI":"10.1002\/adsr.202200036"},{"key":"e_1_2_11_42_1","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2020.3019842"},{"key":"e_1_2_11_43_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41928-025-01443-w"},{"key":"e_1_2_11_44_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2021.3077700"},{"key":"e_1_2_11_45_1","doi-asserted-by":"publisher","DOI":"10.1002\/adma.202002564"},{"key":"e_1_2_11_46_1","doi-asserted-by":"publisher","DOI":"10.1002\/adfm.202314515"},{"key":"e_1_2_11_47_1","doi-asserted-by":"crossref","unstructured":"H.Kim H.Yi H.Lee andW.Lee. \u201cHapCube: A Wearable Tactile Device to Provide Tangential and Normal Pseudo\u2010Force Feedback on a Fingertip \u201dProceedings of the 2018 CHI Conference on Human Factors in Computing Systems(IEEE 2018):1\u201313.","DOI":"10.1145\/3173574.3174075"},{"key":"e_1_2_11_48_1","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2024.3392996"},{"key":"e_1_2_11_49_1","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.2404007121"},{"key":"e_1_2_11_50_1","doi-asserted-by":"crossref","unstructured":"K.Bark J.Wheeler G.Lee J.Savall andM.Cutkosky \u201cA Wearable Skin Stretch Device for Haptic Feedback \u201dWorld Haptics 2009\u2010Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems(IEEE 2009):464\u2013469.","DOI":"10.1109\/WHC.2009.4810850"},{"key":"e_1_2_11_51_1","doi-asserted-by":"crossref","unstructured":"A.Ion E. J.Wang andP.Baudisch \u201cSkin Drag Displays \u201dProceedings of the 33rd Annual ACM Conference on Human Factors in Computing Systems (IEEE 2015) 2501 https:\/\/doi.org\/10.1145\/2702123.2702459.","DOI":"10.1145\/2702123.2702459"},{"key":"e_1_2_11_52_1","doi-asserted-by":"publisher","DOI":"10.1109\/TOH.2024.3363422"},{"key":"e_1_2_11_53_1","doi-asserted-by":"publisher","DOI":"10.1111\/j.1600\u20100846.2005.00088.x"},{"key":"e_1_2_11_54_1","doi-asserted-by":"publisher","DOI":"10.1111\/j.1365\u20102702.2009.03168.x"},{"key":"e_1_2_11_55_1","doi-asserted-by":"publisher","DOI":"10.5694\/j.1326\u20105377.2009.tb03379.x"}],"container-title":["Advanced Science"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/advanced.onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/advs.76412","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/advanced.onlinelibrary.wiley.com\/doi\/full-xml\/10.1002\/advs.76412","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/advanced.onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/advs.76412","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,9,3]],"date-time":"2026-09-03T11:24:20Z","timestamp":1788434660000},"score":1,"resource":{"primary":{"URL":"https:\/\/advanced.onlinelibrary.wiley.com\/doi\/10.1002\/advs.76412"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,7,8]]},"references-count":54,"journal-issue":{"issue":"49","published-print":{"date-parts":[[2026,9]]}},"alternative-id":["10.1002\/advs.76412"],"URL":"https:\/\/doi.org\/10.1002\/advs.76412","archive":["Portico"],"relation":{},"ISSN":["2198-3844","2198-3844"],"issn-type":[{"value":"2198-3844","type":"print"},{"value":"2198-3844","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026,7,8]]},"assertion":[{"value":"2026-02-20","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2026-06-20","order":2,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2026-07-08","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}],"article-number":"e76412"}}