Abstract: The disclosed computer-implemented method may include (1) presenting, using a visual display, an artificial environment to a user, (2) determining whether a virtual contact is being initiated between a virtual object in the artificial environment and a surface location of the user served by a vibrotactile stimulator coupled to the user, and (3) actuating, in response to determining that a virtual contact is being initiated between the virtual object and the surface location, the vibrotactile stimulator to generate a vibrotactile signal to simulate initiation of the virtual contact at the surface location, where the vibrotactile signal includes a magnitude-varying signal having a frequency that is constant relative to a simulated rigidity of the virtual object as presented by the visual display. Various other methods, systems, and computer-readable media are also disclosed.