A method operational on an interactive device (400, 500), comprising: receiving an incoming signal; actuating one or more individually addressable actuators (406, 506) in an array of individually addressable actuators (406, 506) to cause a localized deformation of a flexible membrane (404, 504), generating a first physical pattern; and receiving one or more feedback signals from one or more input sensors (408, 508) by touching or deforming the flexible membrane (404, 504); wherein each of the individually addressable actuators (406, 506) in the array of individually addressable actuators (406, 506) comprises a two-way shape memory alloy, SMA, material adapted to deform in accordance with an electric current corresponding to the incoming signal, and to return to a pre-deformed shape in accordance with a turning off of the electric current; wherein at least one of the individually addressable actuators (406, 506) is in the form of one of a wire, a tube, a sheet, or a spring; characterized in that at least a first one of the individually addressable actuators (406, 506) is pre-configured in a first un-actuated position, such that an application of a voltage to the at least first individually addressable actuator (406, 506) causes the at least first individually addressable actuator (406, 506) to expand to a first actuated position causing a localized positive deformation in the flexible membrane (404, 504); and at least a second one of the individually addressable actuators (406, 506) is pre-configured in a second un-actuated position, such that an application of a voltage to the at least second individually addressable actuator (406, 506) causes the at least second individually addressable actuator (406, 506) to compress to a second actuated position causing a localized negative deformation in the flexible membrane (404, 504). receiving an incoming signal; actuating one or more individually addressable actuators (406, 506) in an array of individually addressable actuators (406, 506) to cause a localized deformation of a flexible membrane (404, 504), generating a first physical pattern; and receiving one or more feedback signals from one or more input sensors (408, 508) by touching or deforming the flexible membrane (404, 504); wherein each of the individually addressable actuators (406, 506) in the array of individually addressable actuators (406, 506) comprises a two-way shape memory alloy, SMA, material adapted to deform in accordance with an electric current corresponding to the incoming signal, and to return to a pre-deformed shape in accordance with a turning off of the electric current; wherein at least one of the individually addressable actuators (406, 506) is in the form of one of a wire, a tube, a sheet, or a spring; characterized in that at least a first one of the individually addressable actuators (406, 506) is pre-configured in a first un-actuated position, such that an application of a voltage to the at least first individually addressable actuator (406, 506) causes the at least first individually addressable actuator (406, 506) to expand to a first actuated position causing a localized positive deformation in the flexible membrane (404, 504); and at least a second one of the individually addressable actuators (406, 506) is pre-configured in a second un-actuated position, such that an application of a voltage to the at least second individually addressable actuator (406, 506) causes the at least second individually addressable actuator (406, 506) to compress to a second actuated position causing a localized negative deformation in the flexible membrane (404, 504).