Virtual Reality (VR) and haptics technologies are employed to interact with remote, virtual, or augmented environments in a wide range of domains. With the advent of increasingly portable and wearable solutions for both of these technologies, their use is being democratized, progressively permeating most aspects of our lives. This Chapter presents an overview of currently-available VR and haptic technologies, together with their current trends, challenges, perceptual characteristics, as well as active research questions in the broader field of robotics. Particular attention is given to innovative cutaneous/tactile technologies, who are expected to best match the ubiquity and wearability characteristics of popular portable VR systems. Finally, the Chapter discusses a series of promising scenarios of applications.