The currently devised solution
A triple of vibrators, applied at three fingertips, is activated at a constant frequency, at amplitudes proportional to the RGB signals. Experiments with seeing and with blind subjects have been performed with success.
The vibrators were initially applied to the three phalanxes of the same finger. This turned out to be a more fatiguing and confusing setup. An acoustical signal might either replace or integrate the tactile one. In this case, it might be at three fixed frequencies, with varying amplitudes, or - more likely - at varying frequencies.
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