Machine communication system using haptic symbol set

A method, comprising:

• receiving an input word that is a unit of a language;
• converting the input word into phonemes of the input word;
• converting the phonemes into actuator signals, wherein each of the phonemes corresponds to a unique one of the actuator signals, such that the unique one of the actuator signals for each of the phonemes causes one of an array of cutaneous actuators corresponding to a place of articulation of each of the phonemes to be activated but not remaining ones of the cutaneous actuators;
• and
• transmitting the actuator signals to the array of cutaneous actuators.

A non-transitory computer readable storage medium, comprising instructions, that when executed by a processor, cause the processor to:

• receive an input word that is a unit of a language;
• convert the input word into phonemes of the input word;
• convert the phonemes into actuator signals, wherein each of the phonemes corresponds to a unique one of the actuator signals, such that the unique one of the actuator signals for each of the phonemes causes one of an array of cutaneous actuators corresponding to a place of articulation of each of the phonemes to be activated but not remaining ones of the cutaneous actuators;
• and
• transmit the actuator signals to the array of cutaneous actuators.