This review article discusses haptic sensing and feedback techniques in virtual reality (VR). Haptic interactions between humans and machines are essential for information acquisition and object manipulation. In VR systems, haptic sensing devices gather information to construct virtual elements, while haptic feedback devices transfer tactile sensations to users. High-performance haptic sensing and feedback interfaces enable closed-loop haptic interactions in VR systems. The article summarizes state-of-the-art haptic sensing and feedback techniques in VR, focusing on the mechanisms of haptic sensors (piezoresistive, capacitive, piezoelectric, and triboelectric) and their applications in force sensing, gesture recognition, and touch identification. It also covers haptic feedback techniques, including mechanical, electrical, and elastic actuators, and their applications in virtual control, immersive entertainment, and medical rehabilitation. Challenges in virtual haptic interactions include accuracy, durability, and technical conflicts in sensing devices, as well as bottlenecks in feedback and closed-loop systems. The article also outlines future prospects in areas such as artificial intelligence of things, smart medicine, and multimedia VR. The review highlights the importance of tactile sensors and haptic feedback in VR, and discusses their advanced techniques and versatile applications in human-machine interaction (HMI) in VR areas. The article also provides an overview of the fundamentals of human haptics, including the mechanisms of mechanoreceptors in human skin, and the functions of tactile sensors in VR systems. It discusses various tactile sensing devices, including piezoresistive, capacitive, piezoelectric, and triboelectric sensors, and their applications in VR. The article also covers force sensors, gesture recognition, and touch identification in VR systems, as well as the challenges and future prospects of haptic sensing and feedback in VR. The review emphasizes the importance of tactile sensors and haptic feedback in VR systems and their potential applications in various fields.This review article discusses haptic sensing and feedback techniques in virtual reality (VR). Haptic interactions between humans and machines are essential for information acquisition and object manipulation. In VR systems, haptic sensing devices gather information to construct virtual elements, while haptic feedback devices transfer tactile sensations to users. High-performance haptic sensing and feedback interfaces enable closed-loop haptic interactions in VR systems. The article summarizes state-of-the-art haptic sensing and feedback techniques in VR, focusing on the mechanisms of haptic sensors (piezoresistive, capacitive, piezoelectric, and triboelectric) and their applications in force sensing, gesture recognition, and touch identification. It also covers haptic feedback techniques, including mechanical, electrical, and elastic actuators, and their applications in virtual control, immersive entertainment, and medical rehabilitation. Challenges in virtual haptic interactions include accuracy, durability, and technical conflicts in sensing devices, as well as bottlenecks in feedback and closed-loop systems. The article also outlines future prospects in areas such as artificial intelligence of things, smart medicine, and multimedia VR. The review highlights the importance of tactile sensors and haptic feedback in VR, and discusses their advanced techniques and versatile applications in human-machine interaction (HMI) in VR areas. The article also provides an overview of the fundamentals of human haptics, including the mechanisms of mechanoreceptors in human skin, and the functions of tactile sensors in VR systems. It discusses various tactile sensing devices, including piezoresistive, capacitive, piezoelectric, and triboelectric sensors, and their applications in VR. The article also covers force sensors, gesture recognition, and touch identification in VR systems, as well as the challenges and future prospects of haptic sensing and feedback in VR. The review emphasizes the importance of tactile sensors and haptic feedback in VR systems and their potential applications in various fields.