Compliant vibrating soft actuators made with dielectric elastomer actuators are successfully assembled with mechanical energy harvesters, which operate a few hundred volts. The TENG-DEA module as a sensor-actuator fusion is applicable to wearable haptic systems, which are self-powering as well as sensing mechanical touches. The modules provide a solution for compliant and lightweight energy-generating, sensing and actuation functions to wearable haptic systems.