(a) SMA-actuated tactile display
(b) Combined tactile & shear feedback array
Figure 6: (a) An actuator array with an SMA-spring actuated principle designed for MIS in the University of Karlsruhe [13]. (b) An integrated tactile and shear feedback sensor array developed by the University of Salford for stimulation of finger mechanoreceptor. Actuation principle (left) and the device prototype (right) are shown [14].