A self-sensing soft pneumatic actuator with closed-Loop control for haptic feedback wearable devices

•Sandwich design of the soft actuator enables self-sensing capability.•Acting as electronic skin to measure the pressure and as actuator to provide haptic feedback.•High control resolution and uniform output forces are achieved by closed-loop control.•The proposed wearable glove provides an intuitive and efficient human–machine interface,•Applications demonstrate the promising potential for human-in-loop systems and metaverse.