MakeMeFeelIt
 
This is a great idea and I've thought about it a lot.--too bad I'm not an engineer, or I would develop it myself and cash in $$$.     You know those TMS devices with multiple pads?   Imagine something like that with several pads.   They could be placed several places on a user's body and used to simulate touches on the chest, belly, legs, etc.
  
What I've learned is that to create a more immersive effect, you don't need every touch 100 percent duplicated--you can trick your mind into believing it is really happening if just some of the touch is duplicated.
   
For example, when I get really deep into VR, sometimes I swear I can feel a girl's hair brush across my face.
  
I wish I weren't so old--I want to be around to see the future of this stuff.  I bet someday they will develop some type of interactive AI where the user could verbally ask the performer to do a particular act, and she says, "sure," and then does it.
  
Well, at least you younger guys will be around . . .