ArrayTac: A Closed-Loop Piezoelectric Tactile Platform for Continuously Tunable Rendering of Shape, Stiffness, and Friction
ArrayTac: A Closed-Loop Piezoelectric Tactile Platform for Continuously Tunable Rendering of Shape, Stiffness, and Friction
ArrayTac is a closed-loop piezoelectric tactile platform that simultaneously renders shape, stiffness, and friction with continuous tunability on a 4x4 actuator array. It enables high-fidelity tactile feedback through a three-stage micro-lever amplifier and Hall-effect feedback, achieving up to 5 mm displacement, a refresh rate over 500 Hz, and a closed-loop bandwidth of 123 Hz. The system supports psychophysical experiments where participants identified 3D shapes and distinguished stiffness and friction levels through touch alone, and demonstrated remote palpation of a medical-grade breast tumor phantom with sub-centimeter localization accuracy.
ArrayTac introduces a novel tactile platform that integrates shape, stiffness, and friction rendering, offering continuous tunability and high-fidelity feedback. The system's ability to enable intuitive tactile communication between humans and machines represents a significant step in embodied AI and human-robot interaction.
Source: arXiv Robotics — research abstracts · Read original article ↗
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What the source reports
Publisher-reported claims, with original evidence. These results have not been independently verified by RoboSignal.
Reported numbers
array refresh rate
500
View original evidence
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
Open source S3closed-loop bandwidth
123
View original evidence
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
Open source S3displacement
≤5
View original evidence
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
Open source S3number of tumors identified
11
View original evidence
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 re
Open source S4distance of remote palpation
>1,000
View original evidence
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 re
Open source S4
- paper: not_reported
- code: not_reported
- weights: not_reported
- dataset: not_reported
Source excerpts and review record
Automatically extracted; no manual editorial approval recorded.
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
Open source S3
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 re
Open source S4
Source：arXiv Robotics — research abstracts · arxiv.org