These exist, it’s just that the prices and features vary.
You can use the Fibaro swipe, for example, in this way, although it will only capture gestures, not display results. But but it’s fun, easy, under $200, and already works with SmartThings. 
https://www.thesmartesthouse.com/products/fibaro-swipe-z-wave-plus-gesture-controller-fggc-001
And Vesternet has a good in-depth review, including discussing putting it under a counter or coffee table:
It can also be wall-mounted or mounted under a table, desk or counter top. We were sceptical at first whether the gesture detection would actually work when the Fibaro Swipe was installed this way, but we’re pleased to say that it most definitely does. We tried it through a number of different surfaces and it worked perfectly.
This device also has my favorite home automation commercial ever. A novice priest comes into an empty church and imagines himself something… More. 
For something that will display as well, there are a number of commercial options available for bars and conference centers. They typically run around $8,000. All you need is a web browser and you could run ActionTiles on it.
But personally I prefer the Fibaro Swipe approach because then the coffeetable still functions as a coffeetable. If you go to the full touchscreen, then either you can only use it as a touchscreen or you have to have a cover or mode button, which to me sort of defeats the whole purpose. I’d rather have a giant wall screen.