The Enactive Torch: Open-source sensory substitution device for neurophysiological research

We present the updated Enactive Torch (ET), an open-source, multimodal sensory substitution device engineered to facilitate synchronized haptic stimulation and neurophysiological data acquisition, particularly electroencephalography (EEG). Designed for modularity and accessibility, the ET converts distance measurements from a LiDAR sensor into vibratory feedback via internal and external actuators, enabling embodied perception studies across diverse research contexts. The system includes a Teensy 4.0 microcontroller, a real-time trigger interface, and a user-programmable C++ framework that supports multiple operational modes (e.g., auto, manual, binary). Key hardware components are validated through latency testing and vibrational performance characterization, confirming sub-25 ms system responsiveness. The ET also integrates seamlessly with EEG systems via synchronized triggers, allowing for precise event marking in experimental paradigms. All firmware, schematics, 3D models, and build instructions are publicly available to support reproducibility and community-driven development. This platform enables researchers to explore novel paradigms in enactive cognition, sensory augmentation, and human-machine interaction with minimal engineering overhead.