This review article by Yuxiang Shi and Guozhen Shen from Beijing Institute of Technology focuses on haptic sensing and feedback techniques in virtual reality (VR). The authors highlight the importance of haptic interactions in VR systems, which enhance the realism and immersion of virtual experiences. They discuss the mechanisms of human haptics, including the roles of different types of mechanoreceptors, and introduce various haptic sensing devices such as piezoresistive, capacitive, piezoelectric, and triboelectric sensors. These sensors can detect force, pressure, and texture, enabling applications like force mapping, gesture recognition, and touch identification. The article also covers haptic feedback techniques, including mechanical vibration, electro-tactile (ET) display, and dielectric elastomer actuator (DEA). These feedback methods aim to simulate tactile sensations on the skin, enhancing the user's interaction with virtual objects. Examples of haptic feedback applications include virtual control, immersive entertainment, and medical rehabilitation. Challenges in haptic interactions, such as accuracy, durability, and technical conflicts, are discussed, along with potential future developments in areas like artificial intelligence and smart healthcare. The review concludes by outlining the promising prospects of haptic technology in VR, emphasizing its role in creating more realistic and interactive virtual environments.This review article by Yuxiang Shi and Guozhen Shen from Beijing Institute of Technology focuses on haptic sensing and feedback techniques in virtual reality (VR). The authors highlight the importance of haptic interactions in VR systems, which enhance the realism and immersion of virtual experiences. They discuss the mechanisms of human haptics, including the roles of different types of mechanoreceptors, and introduce various haptic sensing devices such as piezoresistive, capacitive, piezoelectric, and triboelectric sensors. These sensors can detect force, pressure, and texture, enabling applications like force mapping, gesture recognition, and touch identification. The article also covers haptic feedback techniques, including mechanical vibration, electro-tactile (ET) display, and dielectric elastomer actuator (DEA). These feedback methods aim to simulate tactile sensations on the skin, enhancing the user's interaction with virtual objects. Examples of haptic feedback applications include virtual control, immersive entertainment, and medical rehabilitation. Challenges in haptic interactions, such as accuracy, durability, and technical conflicts, are discussed, along with potential future developments in areas like artificial intelligence and smart healthcare. The review concludes by outlining the promising prospects of haptic technology in VR, emphasizing its role in creating more realistic and interactive virtual environments.