In an experiment that was run by University of Pittsburgh and DARPA,  two microelectronic devices were placed on the brain of a volunteered patient, on a location where the brain processed tactile sensations, in order to achieve sense of touch between a robot hand and brain. After connecting electrodes from the brain to the robotic arm, the patient correctly was able to identify which finger were touched. In another experiment before that was run again by DARPA, it was demonstrated that the robot arm could be controlled directly by brain and now the feeling of sensation is added to this, which completes the loop. The rest will be just refining these technologies to reach to a perfect (or even better than natural) robotic limbs in the future. See video by DARPA below:

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Video Credit: DARPA