Time-Domain and Frequency-Domain Enhancements for Acoustic Haptography

A system is described for providing somatosensory stimuli to a human subject. The system may include an acoustic beamforming device configured to generate a modulated acoustic beam directed at the human subject. The system may also include a signal modulator configured to provide a signal modulation that enhances, subject to the total radiated power constraint, a perceived strength of somatosensory response of at least one type of cutaneous mechanoreceptor cells in the skin of the human subject.