**5. Conclusions**

Haptic interface technology has started in the late fifties with first teleoperation applications. After sixty years of research there have been strong improvements each of the field of Machine Haptics, Computer Haptics and Human Haptics knowledge. The haptic systems that are now available have been employed in many fields like medicine, industry and education. However, while current technology has demonstrated to be quite effective for the simulation of Mediated Contact scenarios, there is still a lack in the simulation of Direct Contact. At the same time, the implementation of a system able to effectively simulated interaction with bare finger could be a real breakthrough. Many researches are currently working on integration of tactile and kinesthetic devices and rendering toward this objective.

In this chapter we introduced the main issues that concern with integration of tactile and kinesthetic feedback considering both Machine Haptics and Computer Haptics aspects.

An example of case study that includes the integration of a hand-exoskeleton with a pinarray device is presented. A possible approach for the real-time rendering of both tactile and kinesthetic components is shown.
