“…Through various forms of tactile stimulations such as skin stretching [ 28 , 29 ], vibration, force or painless electric shock, they substitute the hearing and vision impairments. Thus, they substantially rely on the tactile sensing [ 30 ] as well as tactile feedback (e.g., using actuators in tactile displays) to explore and manipulate objects around them [ 6 , 7 , 31 ]. Similarly, combination of tactile sensing [ 32 ] and tactile feedback is needed in areas such as minimal invasive surgery [ 2 , 5 ] and virtual reality [ 33 , 34 ] to improve the user’s haptic interaction experience.…”