This project investigates the use of high-relief 3D printing as an inclusive didactic resource for Astronomy teaching, specifically aimed at visually impaired individuals. Developed under a multidisciplinary STEM approach, the work addresses the limitations of visual-centric teaching methods by creating a tactile and sensory celestial map representing the skies of Porto Velho, Rondônia. The model was developed using Autodesk Fusion 360 for precise parametric modeling of stellar magnitudes and constellation lines. Fabrication utilizes FDM 3D printing with manual post-processing via soldering iron to integrate a conductive sewing technique for capacitive sensing. The system is controlled by an ESP32 microcontroller, which synchronizes audio descriptions with visual feedback. A key scientific feature is the integration of the Hertzsprung-Russell (H-R) Diagram, where LED colors represent stellar temperatures (blue for hot, red for cool). This multimodal approach enhances inclusive learning, allowing users to perceive complex astrophysical concepts through touch, sound, and light.