ArrayTac: A Closed-Loop Piezoelectric Tactile Platform for Continuously Tunable
Overview
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.
From arXiv Robotics — research abstracts
Event evidence and corrections
0 attributed source owners. Ownership does not establish independent confirmation. Quantities are reported separately and are never added together.
Reported quantity · array refresh rate: 500 other · Basis not reported
“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”
Exact source · revision 1Source owner not reported
Reported quantity · closed-loop bandwidth: 123 other · Basis not reported
“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”
Exact source · revision 1Source owner not reported
Reported quantity · displacement: 5 other · Basis not reported
“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”
Exact source · revision 1Source owner not reported
Reported quantity · number of tumors identified: 11 other · Basis not reported
“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”
Exact source · revision 1Source owner not reported
Reported quantity · distance of remote palpation: 1000 other · Basis not reported
“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”
Exact source · revision 1Source owner not reported
Evidence dependency changes (2)
- 2026-10-30T19:47:29.715Z · evidence updated · source revision 1. Evidence extraction was updated; current source attributions are shown above.
- 2026-10-30T19:47:14.423Z · evidence updated · source revision 1. Evidence extraction was updated; current source attributions are shown above.
Report timeline
Follow attributed reports and material updates.
- arXiv Robotics — research abstractsSignalArrayTac: 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.
Timezone · UTC
Article dates follow your selected timezone. Briefing editions use Hong Kong time (UTC+8).