Speech intelligibility varies according to the positions of speech organs, points of articulation, and control of air flow, as well as the manner of articulation. The purpose of this research is to develop a novel articulation training system that navigates the tongue tip to the appropriate points of articulation using vibration stimulus to the palate. For this study, thin-film piezoelectric elements were mounted on the palatal plate. They were used as a vibrator. The shape and driving frequency of piezoelectric elements were optimized based on subjective evaluations of vibration perception. Results demonstrated that the points of articulation can be perceived properly using the proposed method.