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The focus of this thesis is on the development of a Tactile Vest, a wearable, torso-based haptic device. The tactor for the Tactile Vest was designed and built based on NiTi shape memory alloys. Four of these tactors were manufactured to form a 2x2 and 4x1 array, and tested for use in a wearable device. The tactors are self-contained, and are 42 mm x 22 mm x 17 mm. The tactors were able to generate a mean of 133 kPa in pressure, which is over twice the touch threshold of the torso, and the tactor pin contacting the skin was able to displace 3 mm at a bandwidth of 0.3 Hz. The tactor array was attached to a fitting garment, and preliminary tests were conducted. The tactor activations were described as firm sensations of pressure, as if someone were gently prodding the skin with a finger. The wearable array of tactors based on shape memory alloys is recommended for further development and testing