I. Introduction

II. Haptics
A. Other Non-Haptic Feedback
B. Wearable Haptic Devices

III. Tactile, Cutaneous Feedback
A. Cutaneous devices
B. Active surfaces
C. Mid-air devices

IV. Kinesthetic Feedback
A. Manipulandum
B. Grasp devices
C. Exoskeleton devices
D. Other kinesthetic approaches

V. Other Haptic Devices

VI. The VR and AR Ecosystem

VII. Challenges and Future Directions

VIII. Conclusion