The NOVINT Falcon is a haptic interface device.

It allows you to feel the shape and heft and texture of virtual objects.

I’m particularly interested in the tactile component of haptic technology:

With tactile feedback, a user can feel forces applied directly to the skin, which are detected by a user through sensors within the skin called mechanoreceptors. Tactile feedback can also be applied to a user through electrical currents applied directly to the skin or objects that can vary in temperature touching the skin. For example, tactile feedback can be accomplished with pin arrays on a haptic device that a user places a hand or finger on. The pins within the pin array can slightly raise or lower as the haptic device moves, giving a sensation that the user’s finger or hand is moving across a virtual object with texture.

Their discussion of 3d touch is pretty good.