@article{arraytacaclosedlooppiezoelectrictactilep,
  title = {ArrayTac: A Closed-loop Piezoelectric Tactile Platform for Continuously Tunable Rendering of Shape, Stiffness, and Friction},
  author = {Tianhai Liang and Shiyi Guo and Baiye Cheng and Zhengrong Xue and Han Zhang and Huazhe Xu},
  year = {2026},
  eprint = {2603.13829},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2603.13829},
}