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As of the end of Series 10, there have been none shown in televised stories.

In "Dinosaurs on a Spaceship", the Eleventh Doctor mentioned having played Franz Schubert's Fantasia in F minor with the composer & having been tickled by Schubert to put him off his playing -- but that referred to an event that, if it happened, has never been shown on screen.

In "The Slitheen Excursion" (novel), the Tenth Doctor used his sonic screwdriver to tickle some lions to pacify them, so he & his companion could safely pass by.