The design and control of a tactile display based on shape memory alloys

Closed loop resistive feedback within a PWM control scheme has proved an effective method of controlling a 64 element tactile array. In particular it has allowed independent height control of all tactels with insensitivity to ambient temperature and external forces. It has also resulted in compact electronics. The elementary psychophysical tests show the potential of the surface to display complex surface structures. Future work will examine the performance combined with a visual VE system.