Tactile feedback technology has important development prospects in interactive technology. In order to enrich the tactile sense of haptic devices under simple control, a piezoelectric haptic feedback device is proposed. The piezoelectric tactile feedback device can realize tactile changes in different excitation voltage amplitudes, different excitation frequencies, and different directions through the ciliary body structure. The principle of the anisotropic vibration of the ciliary body structure was analyzed here, and a tactile model was established. The equivalent friction coefficient under full-coverage and local-coverage of the skin of the touch beam was deduced and solved. The effect of system parameters on the friction coefficient was analyzed. The results showed that in the full-coverage, the tactile effect is mainly affected by the proportion of the same directional ciliary bodies and the excitation frequency. The larger the proportion of the same direction ciliary body is, the smaller the coefficient of friction is. The larger the excitation frequency is, the greater the coefficient of friction is. In the local-coverage, the tactile effect is mainly affected by the touch position and voltage amplitude. When changing the touch pressure, it has a certain effect on the change of touch, but it is relatively weak. The experiment on the sliding friction of a cantilever touch beam and the experiment of human factor were conducted. The experimental results of the sliding friction experiment are basically consistent with the theoretical calculations. In the human factor experiment, the effects of haptic regulation are mainly affected by voltage or structure of the ciliary bodies.
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