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