A transducer includes one or more actuator components configured to be encompassed by a cavity of a frame, wherein the one or more actuator components are configured to allow in-plane and out-of-plane movement with respect to the frame and configured to create haptic feedback in the in-plane or out-of-plane movement to the frame. The transducer also includes one or more sensing layers configured to detect changes of displacement in the frame, wherein the sensing layer is connected to the one or more actuator components.