RealcumberScripts
Here's what I've learned over the years. Because of "phantom sense," the haptics don't need to 100% realistic to induce a very satisfactory response. Phantom sense is a skill that can be developed. It can be enhanced through hypnosis and/or binaural sound waves (I've made some audio track using both to play while watching VR). Phantom sense can also be enhanced with a little alcohol, weed, or other substances.
Long before VR headsets and devices like the Handy were around, I experimented with homemade VR sex by surrounding myself with multiple 3D monitors while watching POV videos. And before that with hypnotic erotic audios. (BTW, when all the stars align, I can cum without any touching at all while watching VR).
The points are: 1) I know from experience that a person can train himself to feel VR sex without any haptic devices. 2) Haptic devices can make the experience ever more life-like; and 3) the haptic device does not need to be 100% realistic.
For example, very slight electro stimulation, such as used in home TMS devices, turned very low, can also mimic touch and enhance phantom sense. Also any type of pressure or vibration.
I know a lot about how the body and brain respond to visual and audio stimulation and how much that can be enhanced with very minimal amounts of haptic simulation. There is a growing body of legitimate scientific research being done on this subject
What I don't know is how to design and build hardware and I don't know how to program it so that it syncs with videos.
That said, there is reasonably priced hardware that could be implemented now if somebody knew how to do it. For example, there are a vest and strap that could be implemented right now.
https://www.woojer.com/?gclid=CjwKCAjw2f-VBhAsEiwAO4lNeMJQ5zE4vnXSXdgMU_i09mmIrCNhdM8YnucOAVSiBIo3_7Sa8rJ2NBoCcK4QAvD_BwE
I'm pretty sure that a decent engineer could also figure out how to modify home TMS machines to sync with videos using something like Funscripts. These devices are available for less than $50 on Amazon.
Here's a little more on the types of haptics being explored right now:
https://teslasuit.io/blog/haptic_feedback/