Stimulation Modalities in Wearable Haptic Systems: Single-Mode Feedback to Multiphysics Actuation

Wearable haptic systems enable natural and intuitive human-machine interaction, with growing relevance in immersive entertainment, physical rehabilitation, social communication, and personalized therapy. By delivering real-time tactile feedback via electrical, thermal, and mechanical stimulation, individually or in combination, these systems enhance user engagement and enable more dynamic and responsive digital interactions. This review presents a structured overview of the design principles, actuation mechanisms, and material architectures that define current wearable haptic technologies. We evaluate the strengths and limitations of major feedback modalities and highlight how system-level designs are tailored to specific use cases, from immersive gaming and training simulations to postoperative rehabilitation and emotion-sensitive communication. We also identify key challenges in miniaturization, multimodal integration, user comfort, and long-term wearability. The insights presented here aim to inform the development of next-generation haptic interfaces that are adaptive, scalable, and deployable in real-world applications.