A modular, scalable, layerable 
balloon actuator or 
actuator array. The miniaturized 
actuator array can be mounted on the hand controls of a surgical robotic 
system, and pressure or force input is applied to the surgeon's fingers. The input to the fingers is proportional to the applied force or pressure that is sensed on a separate 
sensor array, which is mounted on the surfaces of the object to be physically manipulated. The force is translated to pressure using a 
control system, which includes electronic and pneumatic components. The Novel enhanced haptic feedback 
system enables the detection of force and tactile information on tissues and sutures with high spatial and 
temporal resolution. This technology shortens the 
learning curve for MIS training, expands the application of MIS techniques in 
surgery, and enhances telementoring and teiesurgery applications. The actuator is modular scalable, Iayerable, compact, configurable, flexible, and conformable. It is therefore designed such that it can be adapted to future surgical 
robotic systems, and can be applied to prosthetics, 
orthotics, and persons with sensory neuropathy, as well as other robotic applications, simulating machines and apparatus and user-
interfacing systems for video-gaming.