Here is a DARPA funded research that involves building a brain-controlled robotic arm to enable paralyzed people to feel again. The volunteer, Nathan Copeland, underwent a surgery to have 2 micro-electrode arrays placed in his sensory cortex. Those electrodes were connected to a robotic hand and arm.
This procedure enabled Nathan to feel again. The APL arm contains torque sensors that detect when pressure is applied to its fingers and convert these sensations into electrical signals to carry back to the arrays installed in Nathan’s brain. The above video provides more info about this project.