ArrayTac: A Closed-Loop Piezoelectric Tactile Platform for Continuously Tunable Rendering of Shape, Stiffness, and Friction.

arXiv:2603.13829v3 Announce Type: replace-cross Abstract: 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 per