# ArrayTac: A Closed-Loop Piezoelectric Tactile Platform for Continuously Tunable Shape, Stiffness, and Friction

- Source: arXiv cs.RO
- Published: 2026-10-27T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/deupa5890db17sgaiwtz6a0v4
- Original: https://arxiv.org/abs/2603.13829

## Summary

ArrayTac is a closed-loop piezoelectric tactile platform that can simultaneously and continuously render three tactile dimensions—shape, stiffness, and friction—on a 4×4 actuator array. Each unit integrates a three-stage micro-lever amplifier and end-effector Hall-effect feedback, achieving up to 5 mm displacement, an array refresh rate above 500 Hz, and a closed-loop bandwidth of 123 Hz.