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Research on ArrayTac Closed-Loop Piezoelectric Tactile Platform

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Tianhai Liang et al. proposed and experimentally validated a closed-loop piezoelectric tactile platform, ArrayTac, which 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 terminal Hall-effect feedback, achieving a displacement of up to 5 mm, an array refresh rate exceeding 500 Hz, and a closed-loop bandwidth of 123 Hz. According to the study, untrained participants could identify three-dimensional shapes and distinguish multiple stiffness and friction levels by touch alone; the platform also completed remote palpation of a medical-grade breast tumor phantom across a distance of more than 1000 km.