Transducers

Piezo Actuators

Tass is using piezo actuators (PI USA, MA, USA) as discussed in this article

z-axis

aka Haptic Feedback or Haptic Vibration Motor or cell phone vibrators

Tim's selections

TECTONIC TEAX14C02-8

Eric-T claims this is what Tass is using.

C-MF Tactor @ $360.00 each
Universal Controller @ $2,350.00 (additional $290 for Bluetooth option)
Pricing does not include shipping cost. Current lead time – 2 weeks
Total for building a pair of gloves with Bluetooth wireless control is 8*360+2350+290=$5520