A method operational on an interactive device , comprising: receiving an incoming signal; actuating one or more individually addressable actuators in an array of individually addressable actuators to cause a localized deformation of a flexible membrane , generating a first physical pattern; and receiving one or more feedback signals from one or more input sensors by touching or deforming the flexible membrane ; wherein each of the individually addressable actuators in the array of individually addressable actuators 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 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 is pre-configured in a first un-actuated position, such that an application of a voltage to the at least first individually addressable actuator causes the at least first individually addressable actuator to expand to a first actuated position causing a localized positive deformation in the flexible membrane ; and at least a second one of the individually addressable actuators is pre-configured in a second un-actuated position, such that an application of a voltage to the at least second individually addressable actuator causes the at least second individually addressable actuator to compress to a second actuated position causing a localized negative deformation in the flexible membrane . receiving an incoming signal; actuating one or more individually addressable actuators in an array of individually addressable actuators to cause a localized deformation of a flexible membrane , generating a first physical pattern; and receiving one or more feedback signals from one or more input sensors by touching or deforming the flexible membrane ; wherein each of the individually addressable actuators in the array of individually addressable actuators 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 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 is pre-configured in a first un-actuated position, such that an application of a voltage to the at least first individually addressable actuator causes the at least first individually addressable actuator to expand to a first actuated position causing a localized positive deformation in the flexible membrane ; and at least a second one of the individually addressable actuators is pre-configured in a second un-actuated position, such that an application of a voltage to the at least second individually addressable actuator causes the at least second individually addressable actuator to compress to a second actuated position causing a localized negative deformation in the flexible membrane . <EOS>