Abstract: 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.