What about "printing" braille characters on a continuous rotating reusable tape?

Those silicone "popper fidget" toys come to mind as something that are flexible, could be cheaply mass produced, and could hold a given state at the "print" head. It might be possible to embed small metal ball bearings inside that are moved between the outer & inner surface to increase tactility.

The print head just needs enough actuators to change the state of a given column of dots as the tape is rotating past, and a feed motor to move the tape.