Microsoft Research has two types of touch for VR haptics
 

Virtual reality is one of the most immersive technologies available today. That is until the illusion shatters when you instinctively reach out to touch something and are met with a one-size-fits-all haptic response or no feedback at all. Microsoft R...

https://www.engadget.com/2016/10/28/...or-vr-haptics/