Programable, Healable and Stretchable High‐Performance Thermal Haptic Array for Wearable Virtual Reality

ABSTRACT Haptics interfaces directly interact and manipulate with both real and virtual objects, are thus essential for enhancing the perception and immersive experiences of augmented and virtual reality (AR/VR) users. Thermal haptic plays a fundamental role in how humans perceive and explore the physical world, however, devices capable of generating realistic thermal sensations remain comparatively underdeveloped. Herein, we propose a design of a programmable, healable, and stretchable thermal haptic array (PHS‐THA) based on thermoelectric devices (TEDs). Systematic experimental studies demonstrate that the PHS‐THA possesses precise temperature control, fast and pixelized temperature feedback capabilities responding to programmable stimuli in both heating and cooling modes. In addition, the PHS‐THA exhibits excellent mechanical robustness when subjected to various large deformations and healing ability after damage. User studies in VR environments demonstrate that PHS‐THA can distinguish thermal stimuli spatially with high accuracy, and generate enhanced sense of presence and immersion. Our work provides a promising strategy for integrating thermal sensation into next‐generation wearable haptic interfaces for immersive AR/VR experience.