High-resolution multi-touch sensor and display device where the interaction medium is liquid, enabling more realistic tactile experience for simulations of synthetic wet environments. Based on frustrated total internal reflection, the device employs liquid within a tank as the optical waveguide that receives light, such as infrared light, that undergoes total internal reflection and an imaging camera that detects light that escapes from the tank caused by frustration of the total internal reflection due to contact of the water by a user.