/,” “/d/,” “/m/,” “/
/,” “/w/,” and “/j/,” according to an embodiment. As illustrated, the phoneme “/
/” (a voiceless palato-alveolar affricate) corresponds to the “ch” in “cheese,” “/d/” to the “g” in “gym,” “/m/” to the “m” in “my,” “/
/” (an alveolar approximant) to the “r” in “read,” “/w/” to the “w” in “we,” and “/j/” to the “y” in “yield.” As with 
/,” “/d/,” and “/w/,” all correspond to haptic outputs of multiple cutaneous actuators as indicated by the straight arrow, with direction of activation sequence, shown above the illustrations of their haptic outputs as shown in