Introduction.- User's Requirements Towards a User-Centered Approach.- Multi-Modal Sensory Integration.- Force or Proprioception.- The Clenching Upper Limb Force Feedback.- Indoor Navigation System for Visually Impaired People.- Can Force Feedback Improve the Control of a Prosthesis.- Towards Somatotopic Matching: The Wearable Integrated Soft Haptic Device (WISH).- Focus on Applications.- a Wearable Exoskeleton for Rehabilitation.- Focus on Applications: HRI for Teleoperation.