ArrayTac: A Closed-loop Piezoelectric Tactile Platform for Continuously Tunable Rendering of Shape, Stiffness, and Friction
Human touch depends on the integration of shape, stiffness, and friction, yet existing tactile displays cannot render these cues together as continuously tunable, high-fidelity signals for intuitive perception. We present ArrayTac, a closed-loop piezoelectric tactile display that simultaneously renders these three dimensions with continuous tunability on a 4 by 4 actuator array. Each unit integrates a three-stage micro-lever amplifier with end-effector Hall-effect feedback, enabling up to 5 mm displacement, greater than 500 Hz array refresh, and 123 Hz closed-loop bandwidth. In psychophysical experiments, naive participants identified three-dimensional shapes and distinguished multiple st...
| Authors | Tianhai Liang, Shiyi Guo, Baiye Cheng et al. |
|---|---|
| Primary category | cs.RO |
| Published | 14 March 2026 |
| Last updated at source | 17 April 2026 |
Silytics shows public metadata from arXiv and links to the original. Information may be incomplete or out of date. Last refreshed 17 October 2026. Licenses and terms of the original apply to the work itself. Not financial, legal or professional advice.