Several theoretical studies on modal superposition methods to achieve tactile differentiation have been reported. However, there is still a lack of in-depth analysis and understanding of the regularity of the superposition of vibration modes and the resulting differences in tactile sensation. The touch beam vibrations are no longer in the form of standing waves after the modal superposition. The vibration points on the touch beam will present a periodic motion over time, instead of simply moving harmonically. The vibration response of the touch beam at high frequency, gave subjects a dramatically different tactile perception from that of a single inherent mode. Therefore, this paper reshapes the modal superposition theory of the haptic feedback technique to classify the vibration modes generated by the modal superposition of touch beams showing differences in tactile sensations considering the time course. The analysis and tactile texture prediction theories are improved compared to previous studies. The tactile sensation generated by the vibration patterns of left-right sway were found in the touch beam. Finally, the correctness of the tactile differentiation achieved by the modal superposition method was demonstrated by psychophysical assessment for different finger conditions.