We describe an audio-tactile stimulation system that can be worn and that is capable of providing the sensation of walking over grounds of different type. The system includes miniature loudspeakers and broadband vibrotactile transducers embedded in the soles. The system is particularly effective at suggesting grounds that have granular or crumpling properties. By offering a broad spectrum of floor augmentations with moderate technological requirements, the proposed prototype represents a solution that can be easily replicated in the research laboratory. This paper documents the design and features of the diverse components that characterize the prototype in detail, as well as its current limits.
