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Devices that provide richer haptic stimuli, including contact feedback and\/or variable pressure, are typically heavy and bulky due to the underlying actuator technology and the low sensitivity of hairy skin, which covers most of the body. This article presents a system architecture for compact wearable devices that deliver salient and pleasant broad\u2010bandwidth haptic cues: Cutaneous Electrohydraulic (CUTE) devices combine a custom materials design for soft haptic electrohydraulic actuators that feature high stroke, high force, and electrical safety with a comfortable mounting strategy that places the actuator in a non\u2010contact resting position. A prototypical wrist\u2010wearable CUTE device produces rich tactile sensations by making and breaking contact with the skin (2.44\u00a0mm actuation stroke), applying high controllable forces (exceeding 2.3\u00a0N), and delivering vibrations at a wide range of amplitudes and frequencies (0\u2013200\u00a0Hz). A perceptual study with 14 participants achieves 97.9% recognition accuracy across six diverse cues and verifies their pleasant and expressive feel. 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