Passive and active grounding techniques for haptic devices

A wearable device comprising:

• a wearable structure configured to be worn by a user;
• and
• a grounding assembly, coupled to the wearable structure, the grounding assembly including:
• (i) an inflatable bladder that is (a) coupled to a first portion of the wearable structure, (b) fluidically coupled to a source via a conduit, and (c) configured to receive a fluid from the source via the conduit;
• and
• (ii) a cord, distinct from the conduit, that is (a) coupled to a second portion of the wearable structure and the inflatable bladder and (b) configured to tighten around a portion of the user's body according to and in proportion with a fluid pressure inside the inflatable bladder, wherein a first portion of the cord is configured to wrap partially around the inflatable bladder while a second portion of the cord is configured to wrap around the portion of the user's body.