Recent advancements in neurotechnology allow the use of implantable mechatronic systems to record and stimulate the human nervous system. Thanks to this intimate contact with neural structures (e.g., brain, spinal cord), such technology can both restore functions lost due to injury or disease (e.g., motor control, vision, speech) and study brain mechanisms with unprecedented resolution. One example is the human somatosensation, shaped by principles of somatotopic and hierarchical organization of the primary somatosensory cortex (S1). By measuring tactile perception, we learn not only about the organization of the somatic sensory system, but also about the formation of coherent mental body representations.