ArrayTac: A Closed-loop Piezoelectric Tactile Platform for Continuously Tunable Rendering of Shape, Stiffness, and Friction
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arXiv
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| Autores principales: | , , , , , |
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| Formato: | Preprint |
| Publicado: |
2026
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| _version_ | 1866917415424622592 |
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| author | Liang, Tianhai Guo, Shiyi Cheng, Baiye Xue, Zhengrong Zhang, Han Xu, Huazhe |
| author_facet | Liang, Tianhai Guo, Shiyi Cheng, Baiye Xue, Zhengrong Zhang, Han Xu, Huazhe |
| contents | 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 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 over 1,000 km, in which all 11 naive participants correctly identified tumor number and type with sub-centimeter localization error. These results establish ArrayTac as a platform for multidimensional haptic rendering and interaction. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_13829 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | ArrayTac: A Closed-loop Piezoelectric Tactile Platform for Continuously Tunable Rendering of Shape, Stiffness, and Friction Liang, Tianhai Guo, Shiyi Cheng, Baiye Xue, Zhengrong Zhang, Han Xu, Huazhe Robotics Artificial Intelligence Human-Computer Interaction 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 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 over 1,000 km, in which all 11 naive participants correctly identified tumor number and type with sub-centimeter localization error. These results establish ArrayTac as a platform for multidimensional haptic rendering and interaction. |
| title | ArrayTac: A Closed-loop Piezoelectric Tactile Platform for Continuously Tunable Rendering of Shape, Stiffness, and Friction |
| topic | Robotics Artificial Intelligence Human-Computer Interaction |
| url | https://arxiv.org/abs/2603.13829 |