The present invention concerns a thermal sensing device (1) and a sensory feedback system and method using such thermal sensing device, comprising at least one film (19) of electrically insulating polymer defining a global surface of the thermal sensing device (1) and including at least one sensing track (10) of a conducting material exhibiting a change in resistivity with temperature, said sensing track (10) being arranged with a connection (12) to at least one control module (2) receiving the signal of the thermal sensing device (1) as a measure of temperature, said thermal sensing device (1) being characterized in that said film (19) further comprises at least one heating track (11), powered by said control module (2) to dissipate electrical power into heat within the thermal sensing device (1) and maintain the sensing track (10) at a determined baseline temperature, preferably close to the baseline temperature of the human skin