Abstract: A tactile array is integrated with a large scale force-feedback device. Under software control, the large scale force-feedback device provides large scale shape information while the tactile display provides fine structures and surface texture. In a virtual reality environment, the concept of a “tactile map” is employed. A tactile map provides surface details and is rendered by the tactile array. Tactile maps may be based on actual object surface properties, or they may be arbitrarily generated based on the application. In operation, the effect of colliding with a object is produced and the point of contact is noted. The corresponding location on the tactile map is identified, and the surface features are rendered on the tactile array. Moving the point of contact changes the corresponding portion of the tactile map being rendered.