The broader/commercial impact of this Small Business Innovation Research (SBIR) Phase II project is the development of a first-of-its-kind assistive technology that provides real-time, independent communication access for people with complex communication, sensory, or accessibility needs. This innovation addresses a critical gap that prevents millions of individuals from independently accessing the internet, receiving emergency alerts, participating fully in education, or communicating without reliance on human intermediaries. The Tatum Signing System (TSS) is designed to promote autonomy and privacy. Commercially, the project targets a serviceable $1.4 billion market across home, educational, workplace, and healthcare applications, with strong interest from national distribution programs that provide assistive technology at no cost to end-users. In addition, the project advances research in tactile language translation and compliant robotics, with potential applications in adjacent fields such as prosthetics, soft robotics, human-computer interaction, and inclusive product design. This Small Business Innovation Research (SBIR) Phase II project will develop and validate a compliant robotic system designed to advance inclusive communication and accessibility technologies for people of all abilities. Building on prior work demonstrating early robotic communication prototypes, this project now seeks to enable more natural, multimodal outputs that integrate movement, spatial a