Human touch depends on the integration of shape, stiffness, and friction, yet existing tactile displays cannot render these cues together as continuously tunable, high-fidelity signals for intuitive perception. We present ArrayTac, a closed-loop piezoelectric tactile display that simultaneously renders these three dimensions with continuous tunability on a 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, greater than 500 Hz array refresh, and 123 Hz closed-loop bandwidth. In psychophysical experiments, naive participants identified three-dimensional shapes and distinguished multiple stiffness and friction levels through touch alone without training. We further demonstrate image-to-touch rendering from an RGB image and remote palpation of a medical-grade breast tumor phantom over 1,000 km, in which all 11 naive participants correctly identified tumor number and type with sub-centimeter localization error. These results establish ArrayTac as a platform for multidimensional haptic rendering and interaction.

翻译：人类触觉依赖于形状、刚度与摩擦力的整合，然而现有触觉显示器无法将这些感知信号作为连续可调的高保真信号同步渲染，以实现直观感知。我们提出ArrayTac——一种闭环压电触觉显示器，在4×4执行器阵列上以连续可调方式同步呈现这三个维度。每个单元集成三级微杠杆放大器与末端执行器霍尔效应反馈，可实现最高5毫米位移、超过500 Hz阵列刷新率及123 Hz闭环带宽。在心理物理学实验中，未经训练的受试者仅通过触觉即可识别三维形状并区分多个刚度与摩擦力等级。我们进一步展示了从RGB图像到触觉的渲染，以及跨越1,000公里对医用级乳腺肿瘤体模的远程触诊——所有11名未经训练的受试者均能正确识别肿瘤数量与类型，且定位误差小于厘米级。这些结果确立了ArrayTac作为多维触觉渲染与交互平台的潜力。