In this article, we review the current technology underlying surface haptics that converts passive touch surfaces to active ones (machine haptics), our perception of tactile stimuli displayed through active touch surfaces (human haptics), their potential applications (human-machine interaction), and finally, the challenges ahead of us in making them available through commercial systems. This article primarily covers the tactile interactions of human fingers or hands with surface-haptics displays by focusing on the three most popular actuation methods: vibrotactile, electrostatic, and ultrasonic.

中文翻译：

---

表面触觉回顾：在触摸表面上实现触觉效果

在本文中，我们回顾了当前将被动触摸表面转换为主动触摸表面（机器触觉）的底层表面触觉技术，我们对通过主动触摸表面（人类触觉）显示的触觉刺激的感知，它们的潜在应用（人机交互），最后，我们在通过商业系统提供它们方面面临的挑战。本文主要介绍了人类手指或手与表面触觉显示器的触觉交互，重点介绍了三种最流行的驱动方法：振动触觉、静电和超声波。