Rendering fine detail surface geometry on an active surface haptic display

A system, comprising:

• a haptic surface;
• a plurality of actuators, each actuator configured to:
• generate mechanical waves in the haptic surface through control of each of the plurality of actuators;
• wherein individual pixels of a plurality of pixels of the haptic surface are individually addressable by multiplexing of the mechanical waves which generate mechanical displacement of one or more vector axes at locations of each of the individual pixels;
• the system further comprising a plurality of channel decorrelator elements, wherein the plurality of channel decorrelator elements are located and configured to decorrelate different transmission paths between the plurality of actuators and the locations of the plurality of pixels on the haptic surface;
• wherein each of the plurality of pixels are individually addressable through time division multiplexing of the mechanical waves, and wherein the system is further configured to:
• a. calibrate the haptic surface to generate a channel response matrix between each of the plurality of actuators and each of the plurality of pixels;
• b. utilize a sensor to measure a location and extent of a body part in contact with the haptic surface to determine which of the plurality of pixels to target;
• c. generate a lookup table for each of the plurality of actuators for each time slot of the time division multiplexing which identifies which target pixel to address by retrieving instructions, wherein the instructions inform which tactile pattern is to be sent to each target pixel, wherein the tactile pattern is one of a plurality of tactile patterns, wherein each tactile pattern defines a surface geometry or texture, and assigning the corresponding time slots of the lookup table to the appropriate target pixel by extracting from a database the spatio-temporal pattern associated with the selected tactile pattern;
• d. utilize the generated lookup table to identify which channels from the channel response matrix are to be used, and invert a corresponding channel response to generate beamforming transmit waveforms to be transmitted in each time slot from each of the plurality of actuators.