As human–computer interaction has become increasingly popular, haptic technology has become a research topic of great interest, since vibration perception, as a type of haptic feedback, can enhance user experience during an interaction. However, the high power consumption of existing drivers makes them unsuitable for use in portable devices. In this paper, a bidirectional four-switch buck–boost converter (FSBBC) and Proportional–Integral (PI)–Proportional (P) feedback control are proposed to implement a driver in a high-capacitance piezoelectric actuator which is capable of recovering the energy stored in the high-capacitance load and increasing efficiency. The FSBBC offers an extended input voltage range, rendering significant technological advantages in diverse applications such as automobiles, laptops, and smartphones. By implementing specific control strategies, the FSBBC not only outperforms conventional buck–boost converters in boosting performance, but also ensures that the output and input voltages retain the same polarity. This effectively addresses the polarity inversion challenge inherent to traditional buck–boost circuits. Within the FSBBC, the significant reduction in voltage stress endured by the MOSFET effectively minimizes system costs and size and enhances reliability. The proposed system was simulated in Simulink, which was combined with testing on a field-programmable gate array (FPGA). The driver is capable of driving capacitors of up to 2.9 μF, with 80 Vpp output and 2.75% total harmonic distortion (THD) observed in the test.