**4.2.2 Electronics and control**

One of the issues regarding the integration of a tactile array on a force feedback device is the bulkiness and disturbances introduced by the large number of connectors and signals that are needed for the independent control of each transducer of the tactile array. For getting around this issue the control electronic board should be integrated on the robotic structure as near as possible to the transducers. This solution is necessary for reducing the impact of the cabling on the robotic structure, but also it imposes constraints on the encumbrance of the electronic. For this reason specific customized solutions have to be adopted for the control of each transducer. Here we present a possible approach based on the strategy for controlling the status of the pixels in a LCD display called active matrix addressing. This strategy can be implemented in any *n by m* array of actuators but we show an implementation that is referred to the solenoid array described in the previous section.
