Artworks in museums are presented to visitors generally through the sense of sight, it is forbidden to touch them because these objects are considered fragile or their size does not allow them to be touched. An inclusive approach becomes a priority so that these works of art are accessible to all. Some figures are not easy to describe in words but can be depicted tactilely, while colors and shadows can’t be understood by touch but these details and the emotions induced can be evoked with audio description. By using our F2T force feedback tablet, the audio description of an element in a painting can be reinforced and supplemented. We propose a new inclusive approach to the discovery of works of art combining inclusive audio description with the movements of the user's finger on the F2T tablet, while giving the possibility of free and interactive tactile exploration.