## 1 Introduction  
Virtual reality technology can provide real-time stimulation and interaction from the sensation channels of vision, hearing, touch, etc. Stimulations focused on vision and hearing have been developed in many virtual applications [1]. With the development of virtual technology, people are aware of the importance of tactile feeling technology. Tactile reproduction technology not only further supplements the information transmission channel, but also assists people in having an enhanced physical engagement when using virtual reality devices [2, 3]. Among the working principles of tactile reproduction technology, the use of piezoelectric materials as actuators that create vibration or ultrasonic waves and transmit haptic information has obvious advantages. In 1995, [PERSON] proposed a tactile method to control the surface roughness. The method created a smoother feeling on a surface by applying ultrasonic vibration. The sensation could thus be controlled without altering the actual surface profile. The smooth feeling caused by this method was assumed to be the \"air film squeeze effect\" between the finger and the device surface [4]. As a solution to the lack of compactness and simplicity often encountered in haptic interfaces, [PERSON] proposes a device based on the friction coefficient control principle. A passive tactile feedback device with two-dimensional degrees of freedom is designed with the principle of active lubrication, and the effectiveness of friction control is verified by simulation [5]. In 2013, [PERSON] developed a unique solution based on PZT thin-film actuated plates allowing haptic feedback effect using low bias voltage due to the squeeze-film effect [6]. In 2017, [PERSON] designed a piezoelectric touch screen, which generates high-amplitude vibration on the surface of the touch screen through piezoelectric actuators on the surface of the touch screen. In this study, the author explores the effects of the voltage, frequency, position of the piezoelectric sheet on vibration. The vibration mode and amplitude can be changed by changing the applied frequency and voltage [7]. The above solution can only cause the tactile feedback device to generate simple bending vibrations, and realize a certain point of vibration or no vibration. The diversity of tactile effects is not good and cannot achieve different tactile feelings at the same position. In 2006, [PERSON] introduced a solution for remote touch using an active surface acoustic wave tactile display [8]. The tactile feedback device was composed of a position sensor, an interdigital transducer, a piezoelectric substrate, a slider, etc., and the Rayleigh wave generated by the excitation signal acts on the slider, thereby continuously producing a touch sensation. In 2012, [PERSON] proposed a transparent piezoelectric tactile stimulator [9]. Multiple piezoelectric plates were placed on both sides of the glass plate to stimulate the bending vibration of the glass plate, and four force sensors were placed to infer the fingertip's position to achieve a good touch effect. In 2013, [PERSON] designed a piezoelectric haptic knob with a number of piezoelectric plates around the knob to adjust the amplitude by detecting the position and pressure of the finger, and then adjusted the tactile stimuli [10]. In 2015, [PERSON] and others designed a one-dimensional piezoelectric touch screen that can provide touch position and sliding detection functions, and developed a proposed sliding analysis method to realize touch position detection, based on the touch mechanism proposed in the research. A previous work established an experimental structure to prove the effectiveness of the proposed piezoelectric touch screen [11]. In 2018, [PERSON] designed a tactile feedback device for friction changes caused by ultrasonic vibration of glass plates. In this device, two piezoelectric plates were driven by the power amplifier to control the surface vibration of the glass plate. The force sensor measured the normal force and the lateral force of the fingers.