1. A realistic tactile haptic feedback device, comprising: a first sensor which in normal mode is used to transform real tactile haptic features of real objects into first sensor signals; a controller which in normal mode is used to transform the first sensor signals into controller signals according to a transfer function thereof; an actuator which in normal mode is used to transform the controller signals into realistic tactile haptic features; and a second sensor which in normal mode is used to transform realistic tactile haptic features from the actuator into a plurality of second sensor signals; wherein in training mode, the controller sequentially generates a plurality of training signals, the actuator sequentially transforms the plurality of training signals into a plurality of tactile haptic features, the second sensor sequentially transforms the plurality of tactile haptic features from the actuator into the plurality of second sensor signals, and the controller identifies the transfer function thereof by which the controller can sequentially transform the plurality of second sensor signals into the plurality of training signals; wherein in normal mode, the first sensor, the controller, the actuator, and the second sensor transform real tactile haptic features of real objects into realistic tactile haptic features that are substantially identical to real tactile haptic features of real objects and, when users directly or indirectly touch the actuator, provide users with realistic tactile haptic feedback that is substantially identical to real tactile haptic feedback which users would experience by touching real objects.