Haptic feedback stands as a cornerstone for the authenticity and depth of engagement in virtual reality and teleoperation systems. Yet, existing haptic devices have grappled with the fidelity of replicating tactile properties, hindered by the constraints on their degrees of freedom and expressive range. This limitation has ignited an urgent quest for innovative solutions that can augment the responsiveness and adaptability of haptic systems.Haptic feedback stands as a cornerstone for the authenticity and depth of engagement in virtual reality and teleoperation systems. Yet, existing haptic devices have grappled with the fidelity of replicating tactile properties, hindered by the constraints on their degrees of freedom and expressive range. This limitation has ignited an urgent quest for innovative solutions that can augment the responsiveness and adaptability of haptic systems.[#item_full_content]