Fig. 5: The visualized precise tactile perception enabled by SOTS.

Practical application scenarios for handling fragile objects with SOTS (a) and without SOTS (b) in the context of remote HMIs. The luminance variations (c) and their relative intensity profiles (d) of the working and reference ACEL units under varied loaded pressures in ambient light. e Variations of relative light intensity can provide users with intuitive visualized feedback, enabling them to promptly correct the magnitude of the applied pressure.