Develop a miniaturized device able to stimulate the skin at multiple length and time scales. This device will be based on an established technique aimed at creating sub-surface stain fields targeted at the cutaneous mechanoreceptors by modifying boundary condition of finger pads or of robotic tactile sensors in the tangential direction. The current system based on piezoelectric actuators has unique capabilities but is expensive, complex to commission and has intrinsic limitation on terms of spatial and temporal resolution. The project will also explore, with ESR1, the development of a 2-stage electromagnet device making it possible to adjust the spatial and temporal resolution to various targets.