Editing Haptic technology (section)

== History ==
One of the earliest applications of haptic technology was in large [[aircraft]] that use [[servomechanism]] systems to operate control surfaces.<ref>{{cite web|url=http://www.avia-it.com/act/biblioteca/libri/PDF_Libri_By_Archive.org/MILITARY%20AVIATION/Quest%20for%20Performace%20-%20The%20Evolution%20of%20Modern%20Aircraft%20-%20Loftin%20L.K..pdf|archive-url=https://web.archive.org/web/20171118144018/http://www.avia-it.com/act/biblioteca/libri/PDF_Libri_By_Archive.org/MILITARY%20AVIATION/Quest%20for%20Performace%20-%20The%20Evolution%20of%20Modern%20Aircraft%20-%20Loftin%20L.K..pdf|url-status=usurped|archive-date=November 18, 2017|title=Quest for Performance: The Evolution of Modern Aircraft|last=Loftin|first=Lawrence K Jr. |date=1985|website=NASA Scientific and Technical Information Branch|pages=Chapter 10|access-date=2019-07-19}}</ref> In lighter aircraft without [[Servomechanism|servo systems]], as the aircraft approached a [[stall (flight)|stall]], the aerodynamic buffeting (vibrations) was felt in the pilot's controls. This was a useful warning of a dangerous flight condition. Servo systems tend to be "one-way", meaning external forces applied [[aerodynamics|aerodynamically]] to the control surfaces are not perceived at the controls, resulting in the lack of this important [[sensory cue]]. To address this, the missing normal forces are simulated with springs and weights. The angle of attack is measured, and as the critical stall point approaches a [[stick shaker]] is engaged which simulates the response of a simpler [[control system]]. Alternatively, the servo force may be measured and the signal directed to a servo system on the control, also known as ''force feedback''. Force feedback has been implemented experimentally in some [[excavator]]s and is useful when excavating mixed material such as large rocks embedded in silt or clay. It allows the operator to "feel" and work around unseen obstacles.<ref>{{Cite journal|last1=Morosi|first1=Federico|last2=Rossoni|first2=Marco|last3=Caruso|first3=Giandomenico|date=2019|title=Coordinated control paradigm for hydraulic excavator with haptic device|journal=[[Automation in Construction]]|language=en|volume=105|page=102848|doi=10.1016/j.autcon.2019.102848|hdl=11311/1096219 |s2cid=191138728|hdl-access=free}}</ref>

In the 1960s, [[Paul Bach-y-Rita]] developed a vision substitution system using a 20x20 array of metal rods that could be raised and lowered, producing tactile "dots" analogous to the pixels of a screen. People sitting in a chair equipped with this device could identify pictures from the pattern of dots poked into their backs.<ref>{{Cite journal|last1=Bach-Y-Rita|first1=Paul|last2=Collins|first2=Carter C.|last3=Saunders|first3=Frank A.|last4=White|first4=Benjamin|last5=Scadden|first5=Lawrence|date=1969|title=Vision Substitution by Tactile Image Projection|journal=Nature|language=en|volume=221|issue=5184|pages=963–964|doi=10.1038/221963a0|issn=1476-4687|pmid=5818337|bibcode=1969Natur.221..963B|s2cid=4179427}}</ref>

The first US patent for a tactile telephone was granted to Thomas D. Shannon in 1973.<ref>{{cite web |url=https://patents.google.com/patent/US3780225 |publisher=[[USPTO]] |date=18 December 1973 |title=Patent US3780225 – Tactile communication attachment |access-date=29 December 2015}}</ref> An early tactile man-machine communication system was constructed by [[A. Michael Noll]] at [[Bell Labs|Bell Telephone Laboratories, Inc.]] in the early 1970s<ref>"Man-Machine Tactile Communication," ''SID Journal'', Vol. 1, No. 2, (July/August 1972), pp. 5–11.</ref> and a patent was issued for his invention in 1975.<ref>{{cite web |title=US Patent 3919691 – Tactile man-machine communication system |publisher=[[USPTO]] |date=11 November 1975 |url=https://patents.google.com/patent/US3919691|access-date=29 December 2015}}</ref>

[[File:Aura-Interactor-force-feedback-vest.jpg|thumb|Aura Interactor vest|alt=A photo of an Aura Interactor vest|left]]In 1994, the [[Aura Interactor]] vest was developed.<ref>{{cite web|url=https://www.baltimoresun.com/news/bs-xpm-1994-08-27-1994239088-story.html|title=Electronic vest adds a chest full of thrills to video games|last=Chen|first=Howard Henry|website=baltimoresun.com|date=27 August 1994 |language=en-US|access-date=2019-07-19}}</ref> The vest is a wearable force-feedback device that monitors an audio signal and uses electromagnetic actuator technology to convert bass sound waves into vibrations that can represent such actions as a punch or kick. The vest plugs into the audio output of a stereo, TV, or [[Videocassette recorder|VCR]] and the audio signal is reproduced through a speaker embedded in the vest.
In 1995, [[Thomas Massie]] developed the PHANToM (Personal HAptic iNTerface Mechanism) system. It used thimble-like receptacles at the end of computerized arms into which a person's fingers could be inserted, allowing them to "feel" an object on a computer screen.<ref>{{Cite patent|number=5587937|title=United States Patent: 5587937 - Force reflecting haptic interface|gdate=December 24, 1996|invent1=Massie|invent2=Salisbury|inventor1-first=Thomas H.|inventor2-first=Jr|url=http://patft.uspto.gov/netacgi/nph-Parser?Sect1=PTO2&Sect2=HITOFF&p=1&u=/netahtml/PTO/search-bool.html&r=1&f=G&l=50&co1=AND&d=PTXT&s1=5,587,937.PN.&OS=PN/5,587,937&RS=PN/5,587,937}}</ref>

In 1995, Norwegian Geir Jensen described a [[Watch#wristwatch|wristwatch]] haptic device with a skin tap mechanism, termed Tap-in. The wristwatch would connect to a mobile phone via [[Bluetooth]], and tapping-frequency patterns would enable the wearer to respond to callers with selected short messages.<ref>{{cite news|title=Apple-klokka ble egentlig designet i Norge for 20 år siden|url=http://www.digi.no/bedriftsteknologi/2015/03/30/apple-klokka-ble-egentlig-designet-i-norge-for-20-ar-siden|agency=(Norwegian language)|publisher=Teknisk Ukeblad digi.no|date=30 March 2015|access-date=19 April 2015|archive-date=16 March 2016|archive-url=https://web.archive.org/web/20160316101401/http://www.digi.no/bedriftsteknologi/2015/03/30/apple-klokka-ble-egentlig-designet-i-norge-for-20-ar-siden|url-status=dead}}</ref>

In 2015, the [[Apple Watch]] was launched. It uses skin tap sensing to deliver notifications and alerts from the mobile phone of the watch wearer.