Inclusive access to culture for all people in institutions, such as museums, is an important issue specified in French laws and is also recognized internationally. This article investigates inclusion of blind and partially blind visitors in museums. The pilot study conducted involves blind, partially blind, and sighted people and observes their perception of audio descriptions and different tactile representations within a museum. 12 participants were asked to experience three different conditions for 3 scenes of the Bayeux Tapestry using inclusive and co-created audio descriptions, simplified swell paper representations, and high relief representations. Overall, a high level of interest was found across all conditions, with multimodality through audio and tactile stimulus found to have enriched participants’ experience. However, more guided tactile exploration would be better. From participants’ feedback, some observations have emerged which could be explored for the development of new technologies to better respond to museum visitors’ expectations.