# Soft Pneumatic Actuator Skin with Piezoelectric Sensors for Vibrotactile Feedback

> Research article (Frontiers in Robotics and AI, 2016) · cited 94× · AI/ML

**Wikidata**: [openalex:W2237543528](https://www.wikidata.org/wiki/openalex:W2237543528)  
**Source**: https://4ort.xyz/entity/soft-pneumatic-actuator-skin-with-piezoelectric-sensors-for-vibrotactile-feedback