A tactile feedback system was developed and mounted on the da Vinci robotic surgical system. The system features silicone-based tactile balloon actuators mounted on the robotic master controls, modified commercial piezoresistive sensors mounted on the robotic end effectors, and a pneumatic control system. The system has a frequency response of up to 20 Hz, a linear input force-output pressure relationship, and provides five discrete levels of actuation over a force input range of 0 to 25 N. A demonstration of the system with four subjects grasping a phantom with an embedded pressure-sensitive film suggested that less force was applied with tactile feedback. This paper describes the design, fabrication, characterization, and demonstration of the mounted tactile feedback system and its components. Ongoing studies using the system will assess the benefit of tactile stimuli to learning and control in robotic surgery.