Personally, never having dedicated any significant thought to my sense of touch before reading Haptics, I now find it impossible not to notice minute details about how my hands interact with the world around me, and the variety of feedback mechanisms in play while I do it.
I picked up the book hoping to understand what "haptics" has to do with my phone and watch, and came out of reading it understanding a lot more. Admittedly, I also came out of it NOT understanding a lot of the underlying processes, mechanics, or in some cases, the vocabulary describing them.
The book is full of examples around the science and application of haptics throughout history, which helped with contextualizing how the practice evolved. The examples speaking to haptic illusions were fascinating and I caught myself poling at my hands and running my fingers over random surfaces on my desk.
The Sci-Fi fan in me wanted a bit more on designing a better hand, or potential extensions to what can be done now that we know the science. There was some discussion about it regarding exoskeletons and a quote about using our own hands as "the" benchmark, but I wanted more!