The present disclosure provides touch communication devices that can convey touch information to a human user and/or receive touch information from the human user. As one example, a touch communication device can include a plurality of tactile units. The touch communication device can individually control each of the tactile units to apply a respective pressure to a surface adjacent to such tactile unit. For example, the touch communication device can control the plurality of tactile units to convey a touch communication to a human user that has the touch communication device adjacent to a portion of his body. As another example, the touch communication device is configured to determine a counter-pressure applied to each tactile unit by the surface adjacent to such tactile unit. The touch communication device can generate information descriptive of a touch communication performed by the human user on the touch communication device.