I live in Canada where chip & PIN have been normal for over a decade. Tap and Go is more recent. As far as I can tell, the cards are the same - both systems work on a RFID chip inside the card. What is different is the way they are scanned, and the way the card processing company handles the transaction. By the way, all such cards here also have the magnetic stripe as a backup if the other system fails.
For paying by Chip & PIN you must insert the card into the reader machine and leave it there until told to remove. You follow the instructions until you enter your PIN and receive a prompt to remove the card. This system uses two types of security - you must have the card with the chip, and you must enter the PIN associated with that card. No signature is required. The credit card issuer (VISA Mastercard, etc.) assumes significant liability if a stolen card is misused. Those companies put a lot of effort into monitoring card use to spot suspicious patterns and suspend a card quickly if the believe it is stolen.
A Tap and Go system usually uses a different reader device built into the same machine so you just tap your card on its exterior and enter nothing, and the transaction is processed. Obviously a stolen card is usable easily, and the card issuer still assumes liability. So they limit the max amount of any one transaction, PLUS they set their system to automatically stop you and require entry of your card PIN after every 10 (or whatever) transactions, or perhaps an accumulated dollar amount. This is a step to ensure that the card user is not a thief. Since it's the same card, it's the same PIN - you just do not have to enter on every Tap and Go transaction.
If those systems fail, the card can still be swiped through the magnetic reader. This type of transaction requires that you sign the slip as the second security measure. BUT that step is only useful if the merchant checks the signature against some other sample to verify that it matches. Merchants who fail to do that checking are risking causing you some trouble, but not usually some money. That is because if the signature obviously does not match, the merchant is the one who pays - not you or the card company.
Of the three systems (all can work with one card, as long as the card processing company and their equipment are set up), Chip & PIN is the most secure, and is relatively quick and very popular. We own a small clothing retail store where over 70% of payments are made with plastic, and I'd say the large majority are processed by Chip & PIN. Tap and Go is fastest but the least secure, which is why they limit amounts purchased that way. It's not REALLY widely used yet here, so our store does not have a terminal to do these - we just use Chip & PIN since it's the same card. Mag strip swipe and signature is medium security (not as good as PIN) because it depends on the merchant's sales clerk to check the signature, but it is reliable.