Authors
Tianhao Jin, Zirui Niu, Qingyun Tang, Zemin Wang, Yu Qiao, Guocai Yao, Yong Zhou, Boxue Shan, Yan Zhang, Dangxiao Wang
Published in
Advanced science (Weinheim, Baden-Wurttemberg, Germany). Pages e78363. Oct 20, 2026. Epub Oct 20, 2026.
Abstract
Kinesthetic feedback gloves play a central role in immersive virtual and augmented reality (VR/AR) by enabling the perception of object shape, stiffness, and spatial constraints. However, key challenges remain: 1) achieving a large stiffness contrast between free-space and constrained-space states, 2) enabling independent actuation on finger joints, and 3) maintaining lightweight, low-power wearable operation. Here, we introduce MagGami, a miniaturized origami-based variable-stiffness actuator weighing 1.2 g for distributed joint-space integration. By combining origami geometric interlocking with an electromagnetic bistable mechanism, it can be triggered by transient current pulses at the flattened 0° configuration of the origami mechanism. MagGami switches from a freely compliant state to a self-locked high-resistance state with a mean locking response time of 102.8 ms, while requiring no coil power to hold the locked state. The mean device-level locked-to-free effective rotational-stiffness ratio is 795.46, corresponding to a module-level stiffness-switching density of 6.63 × 105 kg- 1, and the specified switching cycle consumes 444 mJ. MagGami uses distributed joint-space actuation to deliver lightweight, independently addressable binary constraint cues at individual finger joints, thereby enhancing the perception of virtual spatial constraints and high-resistance contact in VR/AR interactions. This work demonstrates a compact and energy-efficient strategy for next-generation wearable haptic interfaces.
PMID:
42902535
Bibliographic data and abstract were imported from PubMed on 21 Oct 2026.
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