I am in the process of sewing sensory books with each "page" being a different material. Satin, tulle, fleecy lined, polyester fine scarf, various textured ones from cutting up clothing form the second hand shop, even found a pot holder that had lots of small pom poms attached together. They are not very big. Size of a very young child's hard cover book (bit bigger than an adult male hand). This way they can crunch the materials up in their hands, stroke them etc and they can still be tossed into the wash. Though hopefully, because they are a book they won't get drinks and food dropped on them as much.
Sensory Lap Quilt