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High-spatial-resolution wearable tactile arrays have drawn interest from both industry and research, thanks to their capacity for delivering detailed tactile sensations. However, investigations of human tactile perception with high resolution tactile displays remain limited, primarily due to the high costs of multi-channel control systems and the complex fabrication required for fingertip-sized actuators. In this work, we introduce the Soft Haptic Display (SHD) toolkit, designed to enable students and researchers from diverse technical backgrounds to explore high-density tactile feedback in extended reality (XR), robotic teleoperation, braille displays, navigation aid, MR-compatible somatosensory stimulation, and remote palpation. The toolkit provides a rapid prototyping approach and real-time wireless control for a low-cost, 4×4 soft wearable fingertip tactile display with a spatial resolution of 4 mm. We characterized the display’s performance with a maximum vertical displacement of 1.8 mm, a rise time of 0.25 second, and a maximum refresh rate of 8 Hz. All materials and code are open-sourced to foster broader human tactile perception research of high-resolution haptic displays.