Zhakypov, ZhenishbekPaik, Jamie2022-02-012022-02-012022-02-012021https://infoscience.epfl.ch/handle/20.500.14299/185090A haptic device is disclosed comprising at least one fluidic actuator operatively connectable with pumping means; and a plurality of movable members mechanically connected with said at least one fluidic actuator, wherein said movable members can perform a displacement upon actuation of the fluidic actuator and/or resist the movements of a body part of a user upon actuation of the fluidic actuator, to provide a tactile and/or force haptic sensation to a body part of a user. Methods for providing a haptic sensation to a user and receiving haptic input commands from a user are also disclosed.patentUS2023263687WO202126045676444454