In the past years Driessens & Verstappen have developed three devices for automated skin caress:

Spear is a first attempt to reproduce the unpredictable movements of a blade of grass when it is blowing in the wind and gently touches your skin.

Tickle is a small autonomous robot with a pair of nubbed rubber caterpillar tracks.

Tickle Salon is a robotic installation that uses a suspended probe to carry out sensitive movements over the surface of the skin.