实现形状、硬度和摩擦力的连续可调触觉渲染，支持远程医疗触感交互。
ArrayTac: A Closed-loop Piezoelectric Tactile Platform for Continuously Tunable Rendering of Shape, Stiffness, and Friction
- 采用闭环压电结构与霍尔传感器反馈，实现三维度触觉连续调控。
- 4×4阵列支持5毫米位移、500赫兹刷新率，闭环带宽达123赫兹。
- 无训练用户可准确识别三维形状与病变位置，适合医疗触觉应用。
人类触觉依赖于形状、刚度和摩擦力的整合，但现有触觉显示无法同时以连续可调、高保真信号呈现这三种线索。我们提出ArrayTac，一种闭环压电触觉平台，在4×4执行器阵列上同步实现这三个维度的连续可调渲染。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，实现最大5毫米位移、超过500赫兹阵列刷新率及123赫兹闭环带宽。心理物理学实验中，未经训练的参与者仅凭触觉即可识别三维形状，并区分多种刚度与摩擦等级。我们进一步演示了从RGB图像到触觉的转换以及跨越1000公里的医疗级乳腺肿瘤模型远程触诊，所有11名受试者均正确识别肿瘤数量与类型，定位误差小于1厘米。这些结果确立了ArrayTac作为多维触觉渲染与交互的平台。
原文摘要 · Abstract (English)
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.
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