Fig. 2From: Development of human-touch smart armband for tele-haptic communication using a fabric-based soft pneumatic actuatorFabrication process of “SPA touch”: a mask layers (PVC fabric) are attached to the non-stretchable fabric layer (TPU-coated polyester); b silicone is poured over the mask layer and fused with the fabric layer; c an air hose is placed for each area; d air is injected through the tubes and the inflation takes place on one sideBack to article page