Human-computer interaction in the visual and auditory domains has achieved considerable maturity, yet machine-to-human tactile feedback remains underdeveloped. Existing tactile displays struggle to simultaneously render multiple tactile dimensions, such as shape, stiffness, and friction, which limits the realism of haptic simulation. Here, we present ArrayTac, a piezoelectric-driven tactile display capable of simultaneously rendering shape, stiffness, and friction to reproduce realistic haptic signals. The system comprises a 4x4 array of 16 actuator units, each employing a three-stage micro-lever mechanism to amplify the micrometer-scale displacement of the piezoelectric element, with Hall sensor-based closed-loop control at the end effector to enhance response speed and precision. We further implement two end-to-end pipelines: 1) a vision-to-touch framework that converts visual inputs into tactile signals using multimodal foundation models, and 2) a real-time tele-palpation system operating over distances of several thousand kilometers. In user studies, first-time participants accurately identify object shapes and physical properties with high success rates. In a tele-palpation experiment over 1,000km, untrained volunteers correctly identified both the number and type of tumors in a breast phantom with 100% accuracy and precisely localized their positions. The system pioneers a new pathway for high-fidelity haptic feedback by introducing the unprecedented capability to simultaneously render an object's shape, stiffness, and friction, delivering a holistic tactile experience that was previously unattainable.

翻译：人机交互在视觉和听觉领域已相当成熟，但机器对人的触觉反馈仍处于欠发达状态。现有的触觉显示器难以同时渲染多个触觉维度，如形状、刚度和摩擦力，这限制了触觉模拟的真实感。本文提出ArrayTac，一种压电驱动的触觉显示器，能够同步渲染形状、刚度和摩擦力以再现真实的触觉信号。该系统包含一个4x4阵列的16个致动单元，每个单元采用三级微杠杆机构来放大压电元件的微米级位移，并在末端执行器处采用基于霍尔传感器的闭环控制以提高响应速度和精度。我们进一步实现了两个端到端流程：1）一个视觉到触觉框架，利用多模态基础模型将视觉输入转换为触觉信号；2）一个在数千公里距离上运行的实时远程触诊系统。在用户研究中，首次参与者能够以高成功率准确识别物体形状和物理属性。在一个超过1000公里的远程触诊实验中，未经训练的志愿者以100%的准确率正确识别了乳房模型中肿瘤的数量和类型，并精确定位了其位置。该系统通过引入前所未有的同步渲染物体形状、刚度和摩擦力的能力，开创了高保真触觉反馈的新途径，提供了以往无法实现的整体触觉体验。