A multimodal haptic device for rendering cutaneous and kinesthetic tactile cues of a target, and method for rendering cutaneous and kinesthetic tactile cues of a target

A multimodal haptic device for rendering cutaneous and kinesthetic tactile cues of a target, including an actuator configured to contact a body part; a support movable unit, to move the actuator in one or an opposite direction of a force, the actuator including a contact region, configured to receive the force, and an adaptive region, around the contact region and substantially flat at rest; a controller configured to: set a first actuation input to raise the adaptive region relative to the contact region, wherein, in use, the haptic softness tactile cue is rendered by a surface of the raised adaptive region contacting the body part; drive the support movable unit to move the actuator in the one or opposite direction, the haptic kinesthetic tactile cue of the target rendered by another force applied to the body part by the actuator in the opposite direction.