Testing application on actual device...

First off i do know that you can use the simulator to test the applications you write for the iPhone!

but what if i wanted a real hands on feel of how the applications feels in my hands and the customers hands?

Is there any way (without hacking/jailbreaking/etc) to upload the unreleased compiled application to my iPhone for "hands-on" testing.

Why do i want to do this?

To get a good feeling of how the app works in hand. a simulator on my iMac inside of Os X is all good but using the mouse on my screen ain't exactly tsting from the users perspective.

So, Let me finally get to the final question and only question in fact!

Is it possible to load the compiled app on to my iPhone to test?
To get a ruff idea of what it'll be like from a customers perspective?