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Still fairly new, fairly exclusive, and fairly expensive toys to simulate the 'feel' of 3d surfaces. This company
http://www.sensable.com/haptics/products/phantom.html produce one of the few commercial systems around. Specific applications include surgery simulation (it allows students to feel what its like to do a biopsy for example), and sculpting in virtual clay. There was an article about this in 3d magazine, before it went exclusively online.
Sometimes referred to as haptic feedback.