The invention provides a tactile digital 
watermark embedding and detecting method based on electrostatic force, and belongs to the field of 
information security. The method includes: carrying out Edgedetection and 
texture extraction on an original picture and a user-defined 
vector diagram respectively; obtaining an original picture edge texture tactile feature and a user-defined 
vector diagram texture tactile feature through 
texture extraction, carrying out DES 
encryption fusion on the two features to obtain a tactile digital 
watermark, and embedding the tactile digital 
watermark into the original picture by using a quantitative index modulation 
algorithm; The method comprises the following steps: at a detection end, extracting a watermark, performing DES decryption separation on the watermark to obtain an original picture edge texture tactile feature and a user-defined 
vector diagram texture tactile feature, performing tactile modeling and rendering on the two parts respectively, re-superposing the two parts together, and inputting the two parts into an electrostatic force tactile terminal to realize tactile 
reproduction. According to the method, the digital watermark is embeddedand detected by additionally providing a tactile dimension, so that the anti-counterfeiting performance of the digital watermark is greatly improved, and the applicability and the safety of the watermark are enhanced.