This article reviews the technology behind creating artificial touch sensations and the relevant aspects of human touch. We focus on the design and control of haptic devices and discuss the best practices for generating distinct and effective touch sensations. Artificial haptic sensations can present information to users, help them complete a task, augment or replace the other senses, and add immersiveness and realism to virtual interactions. We examine these applications in the context of different haptic feedback modalities and the forms that haptic devices can take. We discuss the prior work, limitations, and design considerations of each feedback modality and individual haptic technology. We also address the need to consider the neuroscience and perception behind the human sense of touch in the design and control of haptic devices.