Estimation or control of contact force in actuators using pressure

A non-transitory computer readable storage medium including instructions that, when executed by a device in communication with a wearable device, cause the device to:

• in response to a request to apply a contact force by an actuator at a first actuator pressure, determine a second actuator pressure for the actuator to apply the contact force, wherein:
• the contact force is generated using one or more components of a haptic assembly, and
• the second actuator pressure is determined based on one or more of i) properties of the one or more components of the haptic assembly and ii) pressure data obtained via one or more sensors;
• and
• cause the haptic assembly to adjust the first actuator pressure to the second actuator pressure such that the actuator applies the contact force.

A method, comprising:

• in response to a request to apply a contact force by an actuator at a first actuator pressure, determining a second actuator pressure for the actuator to apply the contact force, wherein:
• the contact force is generated using one or more components of a haptic assembly, and
• the second actuator pressure is determined based on one or more of i) properties of the one or more components of the haptic assembly and ii) pressure data obtained via one or more sensors;
• causing the haptic assembly to adjust the first actuator pressure to the second actuator pressure such that the actuator applies the contact force.