This is called a "vibrotactile display". They've been around for quite some time (1970s). In fact, you can make "electrostatic vibrotactile displays" using small electrodes to deform the skin and get much higher density (ie. to make fake, programmable textures) -- these are starting to find their way into cellphone screens. You'll find lots of examples... usually attached to a person's forehead, tongue, or back. Here's some more info:

http://www.hizook.com/blog/2010/08/11/electrotactile-arrays-...