A wearable haptics-enabled apparatus comprises a wearable article, like clothing, foot wear, eyewear or jewelry or prosthesis comprising an actuator and an input device like a sensor. A controller is electrically connected to the actuator and the input device. The controller is configured to selectively transmit operation and haptic drive signals to the actuator, and to generate the haptic drive signal upon receiving an input signal from the input device. The haptic drive signal embodies a message. A method of delivering haptic feedback through a wearable article comprises: selectively generating a non-haptic drive signal and applying the non-haptic drive signal to an actuator and selectively generating a haptic drive signal and applying the haptic drive signal to the actuator.
