Years before Sarcos corporation got bought, they had working haptic whole-arm interfaces attached to outsized hydraulic arms. There used to be Real video format files on their site of things like a teleoperated giant arm casually holding an anvil like it was a beer mug.

There was webpage of historical haptics research up somewhere. They've had research hardware since the 70's. I remember one discussion at the Houston hackerspace, where such devices were falsely "debunked" based on bandwidth/processing requirements. {facepalm}