• haptic
• softness
• W-FYD
• wearable system

Haptic perception of objects softness plays an important role in everyday interaction tasks. Wearable haptic systems have shown interesting perspectives in a wide range of fields, including but not limited to virtual and augmented reality, entertainment culture, telerobotics and human robot interaction. Wearable Fabric Yielding Display (W-FYD) is a fabric-based device that allow compliance percpetion during both active and passive exploration tasks. Furthermore, the usage of a fabric allows to superimpose virtual effects to the perception of physical objects, succesfully implementing the paradigm of "feel-through" augmented reality. Despite its effectiveness, its dimensions are problematic for an effective usage in dailylife tasks. My thesis focused on the engineering of a miniaturized Wearable Fabric Yielding Display by exploiting soft pneumatic actuation (W-FYD AIR). I reported the mechanical design, the control approach, the identification of the system, together with experiments with human participants to show that the actual version of the device maintains the effectiveness of the previous one, with a significant reduction of the dimensions and weight