1. A haptic output device comprising: an insulating layer including a surface; a conductive layer proximate the insulating layer and including a sensor and one or more electrodes, the sensor configured to sense an input at the surface from an object that is in contact with the haptic output device; and a controller configured to read the sensor, identify a location of the input, and write a voltage to at least one of the one or more electrodes based on the location of the input to generate an electrostatic output.