ArrayTac：可连续调节形状、刚度与摩擦力的闭环压电触觉平台

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Abstract: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 platform that simultaneously renders these three tactile 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, an array refresh rate greater than 500 Hz, and a closed-loop bandwidth of 123 Hz. In psychophysical experiments, naive participants identified three-dimensional shapes and distinguished multiple stiffness and friction levels through touch alone without training. We further demonstrate image-to-touch rendering from an RGB image and remote palpation of a medical-grade breast tumor phantom across a distance of more than 1,000 km, in which all 11 participants correctly identified the number and type of tumors with a sub-centimeter mean localization error. Together, these results establish ArrayTac as a programmable multidimensional tactile rendering platform that bridges digital representations, physical environments, and human tactile perception, enabling intuitive tactile communication between humans and machines.

Comments:	Project website: this https URL
Subjects:	Robotics (cs.RO); Artificial Intelligence (cs.AI); Human-Computer Interaction (cs.HC)
Cite as:	arXiv:2603.13829 [cs.RO]
	(or arXiv:2603.13829v3 [cs.RO] for this version)
	https://doi.org/10.48550/arXiv.2603.13829 arXiv-issued DOI via DataCite

Submission history

From: Tianhai Liang [view email]
[v1] Sat, 14 Mar 2026 08:23:26 UTC (14,593 KB)
[v2] Fri, 17 Apr 2026 08:51:31 UTC (28,562 KB)
[v3] Mon, 26 Oct 2026 03:47:55 UTC (7,153 KB)