“…An instrument with a precise and responsive action allows a skilled musician to produce a wide variety of timbre nuances through fine-grained control of synchrony, dynamics, attack speed, articulation, and balance in polyphonic texture. Vibrotactile feedback, on the other hand, consists essentially of the same oscillations that the instrument body radiates as sound [42,49,[69][70][71] and is perceived simultaneously with the auditory signal, but differently [4,6,18,25,31,41,45,62,65]. In contrast to hearing, where maximal sensitivity is in the range of 3000-4000 Hz, vibrotaction is most sensitive in the vicinity of 250 Hz (see Sect.…”