Proposed system to produce curved and textured surface stimuli. A is the texture-rendering plate that has two functions: one is as texture display for texture rendering; the other is as oriented plate for curvature rendering. B1, B2, and B3 are servo motors (MSMD5AZG1U, Panasonic Inc.). C1, C2 and C3 are lead screws (SFSR1610, Chuanwei Inc.) and terminal connector. The servo motors and lead screws form the servo mechanisms to elevate, translate, and rotate the texture-rendering plate. D1, D2, and D3 are motor controllers (A5, Panasonic Inc.). E is piezoelectric actuator.