This final chapter synthesizes the findings and discussions presented throughout this book, emphasizing the pivotal role of a user-centred approach in developing wearable haptic solutions. The research spans the understanding of neural plasticity and its implications in sensory substitution to the design, development, and validation of novel haptic devices. By involving users from the initial stages of design, this work has led to the creation of innovative devices such as CUFF, WISH, and VIBES, which provide force feedback, and first contact information. These devices have been rigorously tested in diverse applications, including rehabilitation, prosthesis control, and navigation for visually impaired individuals. The findings underscore the importance of user involvement in creating effective and widely accepted haptic feedback systems. This study highlights that relying solely on state-of-the-art technology is insufficient. Instead, an integrated approach that incorporates insights from neuroscience and a thorough understanding of user needs is crucial. Future developments and lessons learned from this research are also discussed, providing a pathway for continued innovation and improvement in the field.