Methods, systems, and apparatus for generating sensations in response to haptic data. A sensation output device can include a processor adapted to generate one or more control signals corresponding to a haptic command, an actuator adapted to output a force to a drive mechanism in response to one or more control signals received from the processor, an opening through which a portion of a user's body can be inserted, and an interface surface coupled to the drive mechanism, the interface surface configured to at least partially contact the inserted portion of the user's body. Further, the interface surface can be a compliant belt having surface features that is coupled with a carrier belt that is in contact with the drive mechanism. Additionally, the sensation output device can include a memory storing an algorithm including one or more haptic commands, which can be executed by the processor.