“…To the best of our knowledges, piezoelectric composites have not yet been widely explored in haptic tactile devices. Actually, the performance of these systems strongly depends on several parameters of the fillers (e.g., nature, size, shape, dispersion, and concentration), of the matrix (e.g., dimension, mechanical flexibility, temperature stability, adhesion with substrate, and viscosity), and of the interconnectivity between them (i.e., arrangement of the fillers within the matrix) [ 68 , 69 , 70 , 71 , 72 , 73 , 74 ]. To some extent, these features give multiple possibilities to improve the system performance through adjustments of the materials’ parameters.…”