Abstract: Encoding device for encoding vibrotactile multichannel signals, includes an encoder input module configured to receive a multichannel signal; a transform module adapted to execute a discrete wavelet transform of each channel of the multichannel signal and to generate a respective frequency range representation of each channel; a psychohaptic model unit designed to allocate to each channel, based on the respective frequency range representation, a mathematical representation of human perception of the channel; a clustering module configured to group, based on the allocated mathematical representation and a similarity measure of the channels, the wavelet-transformed channels of each multichannel signal into clusters, wherein each cluster is allocated a reference channel; a reference encoding module designed to quantize and compress wavelet coefficients of the reference channels which result from the performed discrete wavelet transform of the reference channels; a differential encoding module configured to enco