Abstract
The present chapter describes the design and the realization of a haptic device dedicated to research prototyping of inclusive haptic rendering in bare hand encounter-type interaction. Our device aims at rendering surface profile haptics by means of a multi-stage display combining force and tactile feedback into a single device. The idea behind the multilevel architecture is to superpose actuators of different frequencies and bandwidths each of which is linked to a specific time-space frequency band of the surface profile. We discuss a number of constraints and difficulties that have been faced in an attempt to integrate combined force/tactile rendering in a single compact device with visual space co-localization.