Start by 3d printing the components given in the "files" category. I included the design files (Fusion 360) for anyone who wants to alter them.

The red base attaches to the servo horn using 3mm screws.

The servo horn attaches to a "giant high torque servo."

Assembled, it looks like this.

I found a transducer that "shoots water droplets out the backside" when touching wet cloth.

The transducer is tiny, with a contact area of about 12mm in diameter.

I found larger transducers and inserted them into the bed of the dryer.

The next step will involve building appropriate drivers for the transducers.