Tingler

Occasionally they strayed through the perimeter electronics, too, and Brown and his people had to track them down and chase them away with prods they'd jerry-rigged from tinglers and pipes.

Source: wiktionary

The low-resolution signal from these cameras, a 16-by-16 or 20-by-20 array of “black and white” pixels, was spread over the back or belly of the subject in a grid of either electrical or mechanically vibrating tinglers called tactors.

Source: wiktionary

Prosthetic devices have been developed to enable some blind people to 'see' through a TV camera connected to an array of vibrating tinglers forming a pad of pixels on the subject's back

Source: wiktionary

In each 'privacy booth' was a screen and a tingler. The tingler looked like a 20th-century vacuum cleaner hose with an oversized salt-shaker top on one end: You watched the pictures, listened to the sounds, and ran the tingler over your erogenous zones; the tingler stimulated the appropriate nerve ends with a subcutaneously penetrative electric field.

Source: wiktionary