Strong and robust stimulations to human skins with low driving voltages under high moisture working conditions are desirable for wearable haptic feedback applications. Here, a soft actuator based on the “air bubble” electret structure is developed to work in high-moisture environments and produce haptic sensations to human skin with low driving voltages. Experimentally, the water soaking and drying process has been conducted repeatedly for the first time and the 20th time to test the antimoisture ability of the actuator as it recovers its output force up 90 and 65% of the initial value, respectively. The threshold voltages for sensible haptic sensations for the fingertip and palm of volunteers have been characterized as 7 and 10 V, respectively. Furthermore, a demonstration example has been designed and conducted in a virtual boxing game to generate the designated haptic sensations according to the gaming conditions with an accuracy of 98% for more than 100 tests. As such, the design principle, performance characteristic, and demonstration example in this work could inspire various applications with improved reliability for wearable haptic devices.