In my sci-fi novel, Upload, VR is experienced in small rooms called v-chambers, which use a mist or gel of nanobots, called nanomist, to suspend the user in space (which allows you to feel like you're moving through a virtual landscape while you're really just walking in place) and to provide haptic feedback. This morning, I read this article on Engadget about a PhD student who is using a Baxter robot as a crude macro version of the haptic feedback achieved via nanotech in a v-chamber. Pretty cool! (But if you want to explore some of the philosophical issues of VR taken to the extreme, you might enjoy my book.)