Grip-force sensing and shape-changing steering wheel

A steering wheel system to establish two-way non-visual, non-verbal communication between a human driver and a vehicle automation system of a vehicle, the steering wheel system comprising:

• a steering wheel of the vehicle;
• a grip sensing system operably coupled with the steering wheel, the grip sensing system configured to sense an increase and a decrease in a grip force of the human driver upon the steering wheel to detect a signal, change of state, or intention from the human driver and communicate the signal, change of state, or intention to the vehicle automation system, the vehicle automation system configured to determine a transfer state of control authority of the vehicle;
• and
• an active shape-changing system operably coupled with the steering wheel, the active shape-changing system configured to physically change the steering wheel between an enlarged inflated position and a contracted deflated position, the active shape-changing system configured to indicate the transfer state of control authority to the hands of the human driver via the physical change in response to the detected signal, change of state, or intention from the human driver.