Editing Haptic technology

{{short description|Any form of interaction involving touch}}
{{distinguish|Tactile technology}}
[[File:Chief Master Sgt. Mark Umfleet, 317th Airlift Wing command chief, tests HaptX Gloves Development Kit 2 at Dyess Air Force Base, Texas, May 10, 2021.jpg|thumb|Haptic gloves used with a virtual reality headset]]
[[File:NASA Tactile Interface – CPI Draft White Paper.png|thumb|1992 tactile interface glove design from NASA]]
'''Haptic technology''' (also '''kinaesthetic communication''' or '''3D touch''')<ref>{{cite web|url=http://zums.ac.ir/files/research/site/ebooks/Human-Computer%20Interaction/Augmented_Reality.pdf|title=Augmented Reality|website=Zums.ac.ir|access-date=19 April 2019|archive-date=28 March 2019|archive-url=https://web.archive.org/web/20190328153334/http://zums.ac.ir/files/research/site/ebooks/Human-Computer%20Interaction/Augmented_Reality.pdf|url-status=dead}}</ref><ref>{{cite journal | last1 = Biswas | first1 = S. | last2 = Visell | first2 = Y. | year = 2019 | title = Emerging Material Technologies for Haptics | journal = Advanced Materials Technologies | volume = 4 | issue = 4| page = 1900042 | doi = 10.1002/admt.201900042| s2cid = 116269522 }}</ref> is technology that can create an experience of [[somatosensory system|touch]] by applying [[#Force feedback|force]]s, [[#Vibration|vibration]]s, or motions to the user.<ref>{{cite web |author=Gabriel Robles-De-La-Torre |url=http://www.isfh.org/ch.html |title=International Society for Haptics: Haptic technology, an animated explanation |publisher=Isfh.org |access-date=2010-02-26 |url-status=dead |archive-url=https://web.archive.org/web/20100307033200/http://www.isfh.org/ch.html |archive-date=2010-03-07 }}</ref> These technologies can be used to create virtual objects in a [[computer simulation]], to control virtual objects, and to enhance remote control of machines and devices ([[telerobotics]]). Haptic devices may incorporate [[tactile sensor]]s that measure forces exerted by the user on the interface. The word ''[[wikt:haptic|haptic]]'', from the {{langx|grc|ἁπτικός}} (''haptikos''), means "tactile, pertaining to the sense of touch". Simple haptic devices are common in the form of [[game controller]]s, [[joystick]]s, and [[steering wheel]]s.

Haptic technology facilitates investigation of how the human sense of touch works by allowing the creation of controlled haptic virtual objects. Vibrations and other tactile cues have also become an integral part of mobile user experience and interface design.<ref>{{Cite journal |last1=Hampton |first1=William |last2=Zhao |first2=Xin |last3=Goldsmith |first3=Kelly |date=2024 |title=Subtle Haptic Cues Increase Online Purchasing by Activating Reward Mechanisms |journal=Journal of Consumer Research |doi=10.1093/jcr/ucaf025}}</ref> Most researchers distinguish three [[Somatosensory system|sensory systems]] related to sense of touch in humans: [[Cutaneous receptor|cutaneous]], [[Proprioception|kinaesthetic]] and [[Haptic perception|haptic]].<ref>{{cite journal | last1 = Biswas | first1 = S. | last2 = Visell | first2 = Y. | year = 2021 | title = Haptic Perception, Mechanics, and Material Technologies for Virtual Reality | journal = Advanced Functional Materials | volume = 31 | issue = 39 | page = 2008186 | doi = 10.1002/adfm.202008186| s2cid = 233893051 | doi-access = free }}</ref><ref>{{cite journal | last1 = Srinivasan | first1 = M.A. | last2 = LaMotte | first2 = R.H. | year = 1995 | title = Tactual discrimination of softness | journal = Journal of Neurophysiology | volume = 73 | issue = 1| pages = 88–101 | doi = 10.1152/jn.1995.73.1.88 | pmid = 7714593 }}</ref><ref>Freyberger, F.K.B. & Färber, B. (2006). "Compliance discrimination of deformable objects by squeezing with one and two fingers".  ''Proceedings of EuroHaptics''  (pp. 271–76).</ref> All perceptions mediated by [[cutaneous]] and kinaesthetic sensibility are referred to as tactual perception. The sense of touch may be classified as passive and active,<ref>{{cite journal | last1 = Bergmann Tiest | first1 = W.M. | last2 = Kappers | first2 = A.M.L. | year = 2009a | title = Cues for haptic perception of compliance | url = https://dspace.library.uu.nl/bitstream/handle/1874/40079/tth2009040189.pdf?sequence=2 | journal = IEEE Transactions on Haptics | volume = 2 | issue = 4| pages = 189–99 | doi = 10.1109/toh.2009.16 | pmid = 27788104 | hdl = 1874/40079 | s2cid = 5718866 }}</ref> and the term "haptic" is often associated with active touch to communicate or recognize objects.<ref>{{cite journal | last1 = Tiest | first1 = W.M. | year = 2010 | title = Tactual perception of material properties | journal = Vision Res | volume = 50 | issue = 24| pages = 2775–82 | doi = 10.1016/j.visres.2010.10.005 | pmid = 20937297 | hdl = 1874/204059 | s2cid = 781594 | hdl-access = free }}</ref>

== 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.

== Types of mechanical touch sensing ==
Human sensing of mechanical loading in the skin is managed by [[Mechanoreceptor]]s. There are a number of types of mechanoreceptors but those present in the finger pad are typically placed into two categories. Fast acting (FA) and slow acting (SA). SA mechanoreceptors are sensitive to relatively large stresses and at low frequencies while FA mechanoreceptors are sensitive to smaller stresses at higher frequencies. The result of this is that generally SA sensors can detect textures with amplitudes greater than 200 micrometers and FA sensors can detect textures with amplitudes less than 200 micrometers down to about 1 micrometer, though some research suggests that FA can only detect textures smaller than the fingerprint wavelength.<ref>Fagiani, R., & Barbieri, M. (2016). A contact mechanics interpretation of the duplex theory of tactile texture perception. Tribology International, 101, 49–58.</ref> FA mechanoreceptors achieve this high resolution of sensing by sensing vibrations produced by friction and an interaction of the fingerprint texture moving over fine surface texture.<ref>Scheibert, J., Leurent, S., Prevost, A., & Debrégeas, G. (2009). The role of fingerprints in the coding of tactile information probed with a biomimetic sensor. Science, 323(5920), 1503-1506.</ref>

== Implementation ==
Haptic feedback (often shortened to just haptics) is controlled vibrations at set frequencies and intervals to provide a sensation representative of an in-game action; this includes 'bumps', 'knocks', and 'tap' of one's hand or fingers.

The majority of electronics offering haptic feedback use vibrations, and most use a type of [[Eccentric rotating mass (ERM) motor|eccentric rotating mass]] (ERM) actuator, consisting of an unbalanced weight attached to a motor shaft. As the shaft rotates, the spinning of this irregular mass causes the actuator and the attached device to shake. [[Piezoelectricity#Actuators|Piezoelectric actuators]] are also employed to produce vibrations, and offer even more precise motion than LRAs, with less noise and in a smaller platform, but require higher voltages than do ERMs and LRAs.<ref>{{cite web|url=http://www.ti.com/lit/sg/slot139/slot139.pdf|title=Hear and feel the difference: TI's low-power audio and activators|last=Texas Instruments|date=2017|website=Texas Instruments|access-date=2019-07-19|archive-date=2019-07-19|archive-url=https://web.archive.org/web/20190719235907/http://www.ti.com/lit/sg/slot139/slot139.pdf|url-status=dead}}</ref>

=== Controller rumble ===
{{see also|DualShock|Rumble Pak}}
One of the most common forms of haptic feedback in video games is controller rumble. In 1976, [[Sega]]'s motorbike game ''[[Fonz (arcade)|Moto-Cross]]'',<ref name="Moto-Cross" /> also known as ''[[Fonz (arcade)|Fonz]]'',<ref name="Fonz" /> was the first game to use haptic feedback, causing the handlebars to vibrate during a collision with another vehicle.<ref name=":3" />

=== Force feedback ===
Force feedback devices use motors to manipulate the movement of an item held by the user.<ref name="Bayousuf2017">Abeer Bayousuf, Hend S. Al-Khalifa, Abdulmalik Al-Salman (2017) ''[https://www.igi-global.com/chapter/haptics-based-systems-characteristics-classification-and-applications/184172 Haptics-Based Systems Characteristics, Classification, and Applications]'', [https://books.google.com/books?id=kvIoDwAAQBAJ&pg=PA4658 p.4658], in Khosrow-Pour, D.B.A., Mehdi (Eds., 2017) ''Encyclopedia of Information Science and Technology'', Fourth Edition, Chapter 404, pages 4652–4665</ref> A common use is in automobile driving video games and simulators, which turn the [[racing wheel|steering wheel]] to simulate forces experienced when cornering a real vehicle. [[Direct-drive wheel]]s, introduced in 2013, are based on [[servomotor]]s and are the most high-end, for strength and fidelity, type of force feedback racing wheels.

In 2007, [[Novint]] released the [[Novint#Novint Falcon|Falcon]], the first consumer 3D touch device with high resolution three-dimensional force feedback. This allowed the haptic simulation of objects, textures, recoil, momentum, and the physical presence of objects in games.<ref>{{cite web|url=http://on10.net/blogs/tina/Introducing-the-Novint-Falcon/|title=Introducing the Novint Falcon|last=Wood|first=Tina|date=2007-04-05|publisher=On10.net|access-date=2010-02-26|archive-url=https://web.archive.org/web/20100620114659/http://on10.net/blogs/tina/Introducing-the-Novint-Falcon/|archive-date=2010-06-20|url-status=dead}}</ref><ref>{{cite web|url=http://eduhaptics.org/index.php/HapticDevices/HomePage|title=Devices|work=HapticDevices|access-date=22 September 2013|archive-url=https://web.archive.org/web/20130910005157/http://eduhaptics.org/index.php/HapticDevices/HomePage|archive-date=10 September 2013|url-status=usurped}}</ref>

=== Air vortex rings ===
[[Vortex ring|Air vortex rings]] are donut-shaped air pockets made up of concentrated gusts of air. Focused air vortices can have the force to blow out a candle or disturb papers from a few yards away. Both Microsoft Research (AirWave)<ref>{{Cite book|last1=Gupta|first1=Sidhant|last2=Morris|first2=Dan|last3=Patel|first3=Shwetak N.|last4=Tan|first4=Desney|title=Proceedings of the 2013 ACM international joint conference on Pervasive and ubiquitous computing |chapter=AirWave |date=2013-01-01|series=UbiComp '13|location=New York|publisher=ACM|pages=419–28|doi=10.1145/2493432.2493463|isbn=978-1-4503-1770-2|s2cid=1749365}}</ref> and Disney Research (AIREAL)<ref>{{Cite journal|last1=Sodhi|first1=Rajinder|last2=Poupyrev|first2=Ivan|last3=Glisson|first3=Matthew|last4=Israr|first4=Ali|date=2013-07-01|title=AIREAL: Interactive Tactile Experiences in Free Air|journal=ACM Trans. Graph.|volume=32|issue=4|pages=134:1–10|doi=10.1145/2461912.2462007|s2cid=5798443|issn=0730-0301}}</ref> have used air vortices to deliver non-contact haptic feedback.<ref name=":1">{{Cite book|last1=Shtarbanov|first1=Ali|last2=Bove Jr.|first2=V. Michael|title=Extended Abstracts of the 2018 CHI Conference on Human Factors in Computing Systems |chapter=Free-Space Haptic Feedback for 3D Displays via Air-Vortex Rings |date=2018|url=http://obm.media.mit.edu/wp-content/uploads/sites/5/2018/05/LBW622.pdf|language=en|location=Montreal QC, Canada|publisher=ACM Press|pages=1–6|doi=10.1145/3170427.3188622|isbn=9781450356213|s2cid=5049106}}</ref>

=== Ultrasound ===
Focused [[ultrasound]] beams can be used to create a localized sense of pressure on a finger without touching any physical object. The focal point that creates the sensation of pressure is generated by individually controlling the phase and intensity of each transducer in an array of ultrasound transducers. These beams can also be used to deliver sensations of vibration,<ref name=":0">{{Cite journal|last1=Culbertson|first1=Heather|last2=Schorr|first2=Samuel B.|last3=Okamura|first3=Allison M.|author3-link=Allison Okamura|date=2018|title=Haptics: The Present and Future of Artificial Touch Sensation|journal=Annual Review of Control, Robotics, and Autonomous Systems|volume=1|issue=1|pages=385–409|doi=10.1146/annurev-control-060117-105043|s2cid=64963235|doi-access=free}}</ref> and to give users the ability to feel virtual 3D objects.<ref>{{Cite journal|last=Long|first=Benjamin|date=Nov 19, 2014|title=Rendering volumetric haptic shapes in mid-air using ultrasound: Proceedings of ACM SIGGRAPH Asia 2014|url=http://research-information.bristol.ac.uk/en/publications/rendering-volumetric-haptic-shapes-in-midair-using-ultrasound(ab22e930-bd9d-4480-a85a-83a33bd9b096).html|journal=ACM Transactions on Graphics|volume=33|page=6|doi=10.1145/2661229.2661257|s2cid=3467880|hdl=1983/ab22e930-bd9d-4480-a85a-83a33bd9b096|hdl-access=free}}</ref> The first commercially available ultrasound device was the Stratos Explore by Ultrahaptics that consisted of 256-transducer array board and a Leap motion controller for hand tracking<ref>{{Cite web |last=Junkie |first=Gadget |date=2020-09-28 |title=STRATOS Explore Mid-Air Haptic Feedback Device |url=https://www.gadgetify.com/stratos-explore/ |access-date=2023-10-22 |website=Gadgetify |language=en-US}}</ref>

Another form of tactile feed back results from active touch when a human scans (runs their finger over a surface) to gain information about a surfaces texture. A significant amount of information about a surface's texture on the micro meter scale can be gathered through this action as vibrations resulting from friction and texture activate [[mechanoreceptor]]s in the human skin. Towards this goal plates can be made to vibrate at an ultrasonic frequency which reduces the friction between the plate and skin.<ref>Basdogan, C.; Giraud, F.; Levesque, V.; Choi, S. A Review of Surface Haptics: Enabling Tactile Effects on Touch Surfaces. IEEE Transactions on Haptics. Institute of Electrical and Electronics Engineers July 1, 2020, pp 450–470.</ref><ref>Scheibert, J., Leurent, S., Prevost, A., & Debrégeas, G. (2009). The role of fingerprints in the coding of tactile information probed with a biomimetic sensor. Science, 323(5920), 1503-1506.</ref>

=== Electrical stimulation ===
[[Electrical muscle stimulation]] (EMS) and [[transcutaneous electrical nerve stimulation]] (TENS) can be used to create haptic sensations in the skin or muscles. Most notable examples include [[Haptic suit|haptic suits]] Tesla suit,<ref>{{Cite web|url=https://teslasuit.io/|title=Teslasuit|website=Teslasuit|language=en-US}}</ref> Owo haptic vest<ref>{{cite web |url=https://www.pcgamer.com/assassins-creed-mirage-has-a-tie-in-haptic-vest-that-can-beat-you-up-stab-you-axe-you-dart-you-and-combo-into-a-severe-abdominal-wound/ |title=Assassin's Creed Mirage has a tie-in haptic vest that can beat you up, stab you, axe you, dart you, and combo into a 'severe abdominal wound' |last=Stanton |first=Rich |date=14 July 2023 |website=PC Gamer}}</ref> and wearable armbands Valkyrie EIR.<ref>{{cite web|url=https://vrscout.com/news/get-swole-with-these-vr-muscle-stimulators/|title=Get Swole With These VR Muscle Stimulators|website=VR Scout|date=18 October 2022 }}</ref> In addition to improving immersion, e.g. by simulating bullet hits, these technologies are sought to create sensations similar to weight and resistance, and can promote muscle training.<ref name="ISEK2010">{{cite journal |last1=Maffiuletti |first1=Nicola A. |last2=Minetto |first2=Marco A. |last3=Farina |first3=Dario |last4=Bottinelli |first4=Roberto |year=2011 |title=Electrical stimulation for neuromuscular testing and training: State-of-the-art and unresolved issues |journal=European Journal of Applied Physiology |volume=111 |issue=10 |pages=2391–2397 |doi=10.1007/s00421-011-2133-7 |pmid=21866361 |doi-access=free}}</ref>

== Applications ==

=== Control ===

==== Telepresence ====
Haptic feedback is essential to perform complex tasks via [[telepresence]]. The [[Shadow Hand]], an advanced robotic hand, has a total of 129 touch sensors embedded in every joint and finger pad that relay information to the operator. This allows tasks such as typing to be performed from a distance.<ref>{{cite web |last=Dormehl |first=Luke |date=2019-04-27 |title=The holy grail of robotics: Inside the quest to build a mechanical human hand |url=https://www.digitaltrends.com/cool-tech/shadow-robot-company-hand/ |access-date=2019-07-20 |website=Digital Trends}}</ref> An early prototype can be seen in [[NASA]]'s collection of humanoid robots, or [[robonaut]]s.<ref>{{cite web |title=Robonaut |url=http://robonaut.jsc.nasa.gov/ |access-date=2010-02-26 |publisher=Robonaut.jsc.nasa.gov}}</ref>

==== Teleoperation ====
[[Teleoperation|Teleoperators]] are remote controlled robotic tools. When the operator is given feedback on the forces involved, this is called ''haptic teleoperation''. The first electrically actuated teleoperators were built in the 1950s at the [[Argonne National Laboratory]] by [[Raymond Goertz]] to remotely handle radioactive substances.<ref>{{Cite journal |last=Goertz |first=R.C. |date=1952-11-01 |title=Fundamentals of general purpose remote manipulators |journal=Nucleonics |volume=10 |pages=36–42}}</ref> Since then, the use of force feedback has become more widespread in other kinds of teleoperators, such as remote-controlled underwater exploration devices.

Devices such as medical [[simulation|simulators]] and [[flight simulator]]s ideally provide the force feedback that would be felt in real life. Simulated forces are generated using haptic operator controls, allowing data representing touch sensations to be saved or played back.<ref>Feyzabadi, S.; Straube, S.; Folgheraiter, M.; Kirchner, E.A.; Su Kyoung Kim; Albiez, J.C., "[https://www.researchgate.net/profile/Jan_Albiez/publication/259597133_Human_Force_Discrimination_during_Active_Arm_Motion_for_Force_Feedback_Design/links/00b7d52cd8522e50aa000000.pdf Human Force Discrimination during Active Arm Motion for Force Feedback Design]," ''IEEE Transactions on Haptics'', vol. 6, no. 3, pp. 309, 319, July–Sept. 2013</ref>

==== Medicine and dentistry ====
Haptic interfaces for medical simulation are being developed for training in minimally invasive procedures such as [[laparoscopy]] and [[interventional radiology]],<ref>Jacobus, C., et al., [https://patents.google.com/patent/US5769640A/en Method and system for simulating medical procedures including virtual reality and control method and system], US Patent 5,769,640</ref><ref>Pinzon D, Byrns S, Zheng B. [http://nebula.wsimg.com/9a3c4945e03855c95d1ed02338ae2d77?AccessKeyId=46F6B87634D8D667D17E&disposition=0&alloworigin=1 “Prevailing Trends in Haptic Feedback Simulation for Minimally Invasive Surgery”]. ''Surgical Innovation''. 2016 Feb.</ref> and for training dental students.<ref>{{Cite journal |last1=Martin |first1=Nicolas |last2=Maddock |first2=Stephen |last3=Stokes |first3=Christopher |last4=Field |first4=James |last5=Towers |first5=Ashley |date=2019 |title=A scoping review of the use and application of virtual reality in pre-clinical dental education |url=http://eprints.whiterose.ac.uk/138367/10/AAM_-_with_images_-_A_scoping_review_of_the_use_of_virtual_reality_simulation_in_Pre-clinical_Dental_Education_BDJ.pdf |journal=British Dental Journal |language=en |volume=226 |issue=5 |pages=358–366 |doi=10.1038/s41415-019-0041-0 |issn=1476-5373 |pmid=30850794 |s2cid=71716319}}</ref> A Virtual Haptic Back (VHB) was successfully integrated in the curriculum at the [[Ohio University]] [[Heritage College of Osteopathic Medicine|College of Osteopathic Medicine]].<ref>{{cite web |title=Honors And Awards |url=http://www.ent.ohiou.edu/~bobw/html/VHB/VHB.html |archive-url=https://web.archive.org/web/20080402111612/http://www.ent.ohiou.edu/~bobw/html/VHB/VHB.html |archive-date=April 2, 2008 |access-date=2010-02-26 |publisher=Ent. ohiou.edu}}</ref> Haptic technology has enabled the development of [[telepresence]] surgery, allowing expert surgeons to operate on patients from a distance.<ref>{{Cite journal |last1=Kapoor |first1=Shalini |last2=Arora |first2=Pallak |last3=Kapoor |first3=Vikas |last4=Jayachandran |first4=Mahesh |last5=Tiwari |first5=Manish |date=2017-05-17 |title=Haptics – Touchfeedback Technology Widening the Horizon of Medicine |journal=Journal of Clinical and Diagnostic Research |volume=8 |issue=3 |pages=294–99 |doi=10.7860/JCDR/2014/7814.4191 |issn=2249-782X |pmc=4003673 |pmid=24783164}}</ref> As the surgeon makes an incision, they feel tactile and resistance feedback as if working directly on the patient.<ref>{{cite web |last=Russ |first=Zajtchuk |date=2008-09-15 |title=Telepresence Surgery |url=http://www.uams.edu/info/zajtchuk.htm |url-status=dead |archive-url=https://web.archive.org/web/20080915234738/http://www.uams.edu/info/zajtchuk.htm |archive-date=2008-09-15 |access-date=2017-05-17}}</ref>

==== Automotive ====
With the introduction of large touchscreen control panels in vehicle dashboards, haptic feedback technology is used to provide confirmation of touch commands without needing the driver to take their eyes off the road.<ref>{{cite journal |last1=Breitschaft |first1=Stefan Josef |last2=Clarke |first2=Stella |last3=Carbon |first3=Claus-Christian |title=A Theoretical Framework of Haptic Processing in Automotive User Interfaces and Its Implications on Design and Engineering |journal=Frontiers in Psychology |volume=10 |page=1470 |doi=10.3389/fpsyg.2019.01470 |pmid=31402879 |pmc=6676796 |date=26 July 2019|doi-access=free }}</ref> Additional contact surfaces, for example the steering wheel or seat, can also provide haptic information to the driver, for example, a warning vibration pattern when close to other vehicles.<ref>{{cite web |last1=Kern |first1=Dagmar |last2=Pfleging |first2=Bastian |title=Supporting Interaction Through Haptic Feedback in Automotive User Interfaces |url=https://www.medien.ifi.lmu.de/pubdb/publications/pub/kern2013haptic/kern2013haptic.pdf |publisher=Department for Informatics, University of Munich |access-date=25 October 2019}}</ref>

==== Aviation ====
Force-feedback can be used to increase adherence to a safe [[flight envelope protection|flight envelope]] and thus reduce the risk of pilots entering dangerous states of flights outside the operational borders while maintaining the pilots' final authority and increasing their [[situation awareness]].<ref>{{cite journal |author1=Florian J. J. Schmidt-Skipiol |author2=Peter Hecker |name-list-style=amp |year=2015 |title=Tactile Feedback and Situation Awareness-Improving Adherence to an Envelope in Sidestick-Controlled Fly-by-Wire {{sic|nolink=y|Aircrafts}}. |url=https://www.researchgate.net/publication/299644586 |journal=15th AIAA Aviation Technology, Integration, and Operations Conference |page=2905 |doi=10.2514/6.2015-2905}}</ref>

=== Electronic devices ===

==== Video games ====
[[File:Dreamcast-Jump-Pack.jpg|thumb|Rumble packs for controllers, such as this [[Dreamcast]] Jump Pack, provide haptic feedback through users' hands.]]Haptic feedback is commonly used in [[arcade game]]s, especially [[racing video game]]s. In 1976, [[Sega]]'s motorbike game ''[[Fonz (arcade)|Moto-Cross]]'',<ref name="Moto-Cross">{{KLOV game|12812|Moto-Cross}}</ref> also known as ''[[Fonz (arcade)|Fonz]]'',<ref name="Fonz">{{KLOV game|id=12812|name=Fonz}}</ref> was the first game to use haptic feedback, causing the handlebars to vibrate during a collision with another vehicle.<ref name=":3">Mark J.P. Wolf (2008), ''The video game explosion: a history from PONG to PlayStation and beyond'', p. 39, [[ABC-CLIO]], {{ISBN|0-313-33868-X}}</ref> Tatsumi's ''[[TX-1]]'' introduced force feedback to car driving games in 1983.<ref name="TX-1">{{KLOV game|id=10004|name=TX-1}}</ref> The game ''[[Earthshaker! (pinball)|Earthshaker!]]'' added haptic feedback to a [[pinball]] machine in 1989.

Simple haptic devices are common in the form of [[game controller]]s, joysticks, and steering wheels. Early implementations were provided through optional components, such as the [[Nintendo 64]] controller's ''[[Rumble Pak]]'' in 1997. In the same year, the [[Microsoft SideWinder#Force Feedback Pro|Microsoft SideWinder Force Feedback Pro]] with built-in feedback was released by [[Immersion Corporation]].<ref>{{cite web|url=https://news.microsoft.com/1998/02/03/microsoft-and-immersion-continue-joint-efforts-to-advance-future-development-of-force-feedback-technology/|title=Microsoft and Immersion Continue Joint Efforts To Advance Future Development of Force Feedback Technology|date=3 February 1998|website=Stories}}</ref> Many console controllers and joysticks feature built-in feedback devices, which are motors with unbalanced weights that spin, causing it to vibrate, including [[Sony]]'s [[DualShock]] technology and [[Microsoft]]'s [[Xbox One Controller|Impulse Trigger]] technology. Some automobile steering wheel controllers, for example, are programmed to provide a "feel" of the road. As the user makes a turn or accelerates, the steering wheel responds by resisting turns or slipping out of control.

Notable introductions include:

* 2013: The first [[direct-drive wheel]] for [[sim racing]] is introduced.
* 2014: A new type of haptic cushion that responds to multimedia inputs by LG Electronics.<ref>{{cite web|url=https://www.researchgate.net/publication/283795471|title=Haptic Cushion: Automatic Generation of Vibro-tactile Feedback Based on Audio Signal for Immersive Interaction with Multimedia|last=Y. J.|first=Cho|website=ResearchGate|publisher=LG Electronics}}</ref>
* 2015: [[Steam Machine (hardware platform)|Steam Machine]]s (console-like PCs) by [[Valve Corporation|Valve]] include a new Steam Controller that uses weighted electromagnets capable of delivering a wide range of haptic feedback via the unit's trackpads.<ref>{{cite web | url = https://www.theverge.com/2013/9/27/4762318/valve-steam-box-controller | title = Valve unveils the Steam Controller | first = Andrew | last = Webster | date = September 27, 2013 | access-date = September 27, 2013 | publisher = [[The Verge]] }}</ref> These controllers' feedback systems are user-configurable, delivering precise feedback with haptic force actuators on both sides of the controller.<ref>{{cite web|url=https://www.theinquirer.net/inquirer/news/2297461/valve-shows-off-the-steam-controller-with-haptic-feedback|archive-url=https://web.archive.org/web/20130930085221/http://www.theinquirer.net/inquirer/news/2297461/valve-shows-off-the-steam-controller-with-haptic-feedback|url-status=unfit|archive-date=September 30, 2013|title=Valve shows off the Steam controller with haptic feedback|last=Neal|first=Dave|date=2013-09-30|website=The Inquirer|language=en|access-date=2019-07-20}}</ref>
* 2017: The [[Nintendo Switch]]'s [[Joy-Con]] introduced the HD Rumble feature, developed with [[Immersion Corporation]], using actuators from [[Alps Electric]].<ref>{{cite web|url=https://www.engadget.com/2017/01/13/nintendos-hd-rumble-will-be-the-best-unused-switch-feature-of-2/|title=Nintendo's HD Rumble will be the best unused Switch feature of 2017|website=Engadget|date=13 January 2017 |access-date=2017-05-17}}</ref><ref>{{cite web |last1=Porter |first1=Jon |title=Meet the minds behind Nintendo Switch's HD Rumble tech |url=https://www.techradar.com/news/meet-the-minds-behind-nintendo-switchs-hd-rumble-tech |website=TechRadar |date=7 February 2017 |access-date=15 November 2019 |language=en}}</ref><ref>{{cite web |last1=Hall |first1=Charlie |title=Japanese site estimates Nintendo spends $257 to make one Switch |url=https://www.polygon.com/2017/4/5/15195638/nintendo-switch-component-cost-estimate |website=Polygon |access-date=15 November 2019 |language=en |date=5 April 2017}}</ref>
* 2018: The [[Razer Inc.|Razer]] Nari Ultimate, gaming headphones using a pair of wide frequency haptic drivers, developed by Lofelt.<ref>{{cite web|url=https://www.ausgamers.com/reviews/read.php/3618007|title=Razer Nari Ultimate Wireless Gaming Headset Review - AusGamers.com|last=Andreadis|first=Kosta|date=2019-06-21|website=Ausgamers|access-date=2019-07-20}}</ref><ref>{{cite web |last1=Summers |first1=Nick |title=Razer brings its vibrating Nari Ultimate headset to Xbox One |url=https://www.engadget.com/2019/09/26/razer-nari-ultimate-xbox-one-haptics-headset/ |website=Engadget |date=26 September 2019 |access-date=15 November 2019 |language=en}}</ref>
* 2020: The Sony [[PlayStation 5]] [[DualSense]] controllers supports [[#Haptic feedback|vibrotactile haptic]] provided by [[voice coil]] [[Moving magnet actuator|actuators]] integrated in the palm grips, and [[#Force feedback|force feedback]] for the Adaptive Triggers provided by two DC rotary motors.<ref>{{cite web |title=What's under the hood of the DualSense? |url=https://www.actronika.com/post/whats-under-the-hood-of-the-dualsense |website=www.actronika.com}}</ref> The actuators in the hand grip are able to give varied and intuitive feedback about in-game actions; for example, in a sandstorm, the player can feel the wind and sand, and the motors in the Adaptive Triggers support experiences such as virtually drawing an arrow from a bow.<ref>{{cite magazine |last1=Rubin |first1=Peter |title=Exclusive: A Deeper Look at the PlayStation 5—Haptics, UI Facelift, and More |url=https://www.wired.com/story/exclusive-playstation-5/ |magazine=Wired |access-date=24 October 2019 |language=en}}</ref>
* 2021, [[SuperTuxKart]] 1.3 was released, adding support for force feedback.<ref>{{cite web |title=SuperTuxKart |url=https://github.com/supertuxkart/stk-code/blob/1.3/CHANGELOG.md |publisher=SuperTuxKart |date=3 September 2022|website=[[GitHub]]}}</ref> Force feedback is extremely uncommon for [[free software]] games.

==== Mobile devices ====
[[File:LG P710 Optimus L7 II - Vibramotor SJMY0007108-7058.jpg|thumb|Vibramotor of LG Optimus L7 II]]
Tactile haptic feedback is common in [[mobile phone|cellular device]]s. In most cases, this takes the form of vibration response to touch. [[Alpine Electronics]] uses a haptic feedback technology named ''PulseTouch'' on many of their touch-screen car navigation and stereo units.<ref>{{cite web |date=May 8, 2007 |title=Alpine Electronics Ships New IVA-W205 Double-DIN Audio/Vide + Navigation Head Unit |url=http://www.alpine-usa.com/US-en/company/pr/pr.php?prid=153&year=2007 |url-status=dead |archive-url=https://web.archive.org/web/20081117202003/http://www.alpine-usa.com/US-en/company/pr/pr.php?prid=153&year=2007 |archive-date=November 17, 2008 |access-date=2009-12-15 |location=Torrance, CA}}</ref> The [[Nexus One]] features haptic feedback, according to their specifications.<ref>{{cite web |title=What's With Tech? –Technology Guide For Dummies |url=http://whatswithtech.com/nexus-one-phone-feature-overview-technical-specifications/ |url-status=dead |archive-url=https://web.archive.org/web/20150402112258/http://whatswithtech.com/nexus-one-phone-feature-overview-technical-specifications/ |archive-date=2015-04-02 |access-date=2017-05-17 |website=whatswithtech.com |language=en-US}}</ref> [[Samsung Electronics|Samsung]] first launched a phone with haptics in 2007.<ref>{{cite web |date=26 June 2006 |title=Mobile Phones to Get Tactile Touch Screens |url=http://www.techhive.com/article/126228/article.html |url-status=dead |archive-url=https://web.archive.org/web/20160816113055/http://www.pcworld.com/article/126228/article.html |archive-date=2016-08-16 |access-date=2015-10-07 |website=TechHive}}</ref>

Surface haptics refers to the production of variable forces on a user's finger as it interacts with a surface such as a touchscreen.

Notable introductions include: 
* Tanvas<ref>Rediscover Touch. [http://tanvas.co/#technology Tanvas, Inc. website.] retrieved 2016-06-05</ref> uses an [[electrostatic]] technology<ref>[https://www.youtube.com/watch?v=fi8N1krVh7E?rel=0 "Finger on Electrostatic Touchscreen in Slow Motion."] YouTube video retrieved 2016-06-05</ref> to control the in-plane forces experienced by a fingertip, as a programmable function of the finger's motion. The TPaD Tablet Project uses an [[ultrasound|ultrasonic]] technology to modulate the apparent slipperiness of a glass touchscreen.<ref>[http://tpadtablet.org/home/ "TPaD Tablet Project website."] retrieved 2016-06-05</ref>
* In 2013, [[Apple Inc.]] was awarded the patent for a haptic feedback system that is suitable for multitouch surfaces. Apple's U.S. Patent for a "Method and apparatus for localization of haptic feedback" describes a system where at least two actuators are positioned beneath a multitouch input device, providing vibratory feedback when a user makes contact with the unit.<ref>{{cite web |author=Pance, Alioshin & Bilbrey, Aleksandar & Paul, Brett |date=February 19, 2013 |title=United States Patent: 8378797 – Method and apparatus for localization of haptic feedback |url=http://patft.uspto.gov/netacgi/nph-Parser?Sect1=PTO2&Sect2=HITOFF&p=1&u=/netahtml/PTO/search-adv.htm&r=33&f=G&l=50&d=PTXT&S1=(apple.ASNM.+AND+20130219.PD.)&OS=an/apple+and+isd/2/19/2013&RS=(AN/apple+AND+ISD/20130219) |access-date=2017-05-17 |issue=8378797 |archive-date=2018-05-13 |archive-url=https://web.archive.org/web/20180513080842/http://patft.uspto.gov/netacgi/nph-Parser?Sect1=PTO2&Sect2=HITOFF&p=1&u=/netahtml/PTO/search-adv.htm&r=33&f=G&l=50&d=PTXT&S1=(apple.ASNM.+AND+20130219.PD.)&OS=an/apple+and+isd/2/19/2013&RS=(AN/apple+AND+ISD/20130219) |url-status=dead }}</ref> Specifically, the patent provides for one actuator to induce a feedback vibration, while at least one other actuator uses its vibrations to localize the haptic experience by preventing the first set of vibrations from propagating to other areas of the device. The patent gives the example of a "virtual keyboard," however, it is also noted that the invention can be applied to any multitouch interface.<ref>{{cite news |last=Campbell |first=Mikey |date=2013-02-19 |title=Apple awarded patent for more accurate haptic feedback system |url=http://appleinsider.com/articles/13/02/19/apple-awarded-patent-for-more-accurate-haptic-feedback-system |access-date=3 April 2013 |newspaper=Apple Insider}}</ref> Apple's [[iPhones]] (and [[#Personal computers|MacBooks]]) featuring the "Taptic Engine", accomplish their vibrations with a linear resonant actuator (LRA), which moves a mass in a reciprocal manner by means of a [[Voice coil|magnetic voice coil]], similar to how AC electrical signals are translated into motion in the cone of a [[loudspeaker]]. LRAs are capable of quicker response times than ERMs, and thus can transmit more accurate haptic imagery.<ref>{{cite web |last=Ye |first=Shen |date=2015-04-08 |title=The science behind Force Touch and the Taptic Engine |url=https://www.imore.com/science-behind-taptics-and-force-touch |access-date=2019-07-19 |website=iMore |language=en}}</ref>

==== Virtual reality ====
Haptics are gaining widespread acceptance as a key part of [[virtual reality]] systems, adding the sense of touch to previously visual-only interfaces.<ref>{{cite web|url=https://www.popsci.com/haptic-gloves-let-you-reach-out-and-touch-virtual-objects/|title=Haptic Gloves Use Air Pressure To Simulate The Feel Of Virtual Objects|last=Moren|first=Dan|date=2015-04-27|website=Popular Science|language=en|access-date=2019-07-20}}</ref> Systems are being developed to use haptic interfaces for 3D modeling and design, including systems that allow holograms to be both seen and felt.<ref name=":2">{{cite web|url=https://newatlas.com/ultrasound-3d-haptic-hologram/35032/|title=New ultrasound research creates holographic objects that can be seen and felt|last=Jeffrey|first=Colin|date=2014-12-02|website=New Atlas|language=en|access-date=2019-07-20}}</ref><ref name="physorg1">{{cite web|url=http://www.physorg.com/news168797748.html |title=Touchable Hologram Becomes Reality (w/ Video) |publisher=Physorg.com |date=2009-08-06 |access-date=2010-02-26}}</ref><ref>Mary-Ann Russon (2016). [https://www.ibtimes.co.uk/japanese-scientists-develop-holograms-you-can-reach-out-touch-1535893 Holograms you can reach out and touch developed by Japanese scientists]. IBTimes</ref> Several companies are making full-body or torso haptic vests or [[haptic suit]]s for use in immersive virtual reality to allow users to feel explosions and bullet impacts.<ref>{{cite web|url=https://newatlas.com/haptic-tech-vr-wearables-games-sightlence/35616/|title=Haptic technology: The next frontier in video games, wearables, virtual reality, and mobile electronics|last=Moss|first=Richard|date=2015-01-15|website=New Atlas|language=en|access-date=2019-07-20}}</ref>

==== Personal computers ====
In 2015, [[Apple Inc.]]'s [[MacBook]] and [[MacBook Pro]] started incorporating a "Tactile Touchpad" design with button functionality and haptic feedback incorporated into the tracking surface. The tactile touchpad allows for a feeling of "give" when clicking despite the fact that the touchpad no longer moves.<ref>{{cite web |title=Force Touch |url=https://www.businessinsider.com/guides/tech/what-is-force-touch-trackpad |publisher=businessinsider.com}}</ref>

=== Sensory substitution ===
{{Main|Sensory substitution}}

==== Sound substitution ====
In December 2015 David Eagleman demonstrated a wearable vest that "translates" speech and other audio signals into series of vibrations.<ref>{{Cite magazine |title=This vibrating vest is giving deaf people a sixth sense |url=https://www.wired.co.uk/article/understanding-the-brain-david-eagleman |access-date=2021-08-24 |magazine=Wired UK |language=en-GB |issn=1357-0978}}</ref> This allowed hearing-impaired people to "feel" sounds on their body; it has since been made commercially as a wristband.<ref>{{Cite web |date=2020-09-04 |title=Feeling Sound as Vibration: A Review of the Neosensory Buzz |url=https://hearinghealthmatters.org/blog/2020/feeling-sound-as-vibration-a-look-at-the-neosensory-buzz/ |access-date=2021-08-24 |website=Hearing Health & Technology Matters |language=en-US}}</ref>

==== Tactile electronic displays ====
{{see also|Braille terminal|Braille e-book}}

A tactile electronic display is a [[display device]] that delivers text and graphical information using the sense of touch. Devices of this kind have been developed to assist blind or deaf users by providing an alternative to visual or auditory sensation.<ref>{{Cite journal |last1=Chouvardas |first1=V.G. |last2=Miliou |first2=A.N. |last3=Hatalis |first3=M.K. |date=2008 |title=Tactile displays: Overview and recent advances |url=http://www.nano-micro.gr/papers/Chouvardas_2008_Displays.pdf |journal=Displays |language=en |volume=29 |issue=3 |pages=185–194 |citeseerx=10.1.1.180.3710 |doi=10.1016/j.displa.2007.07.003 |s2cid=16783458}}</ref><ref>{{cite web |title=Here's What the Future of Haptic Technology Looks (Or Rather, Feels) Like |url=https://www.smithsonianmag.com/innovation/heres-what-future-haptic-technology-looks-or-rather-feels-180971097/ |access-date=2019-07-20 |website=Smithsonian |language=en}}</ref>

=== Teledildonics ===
Haptic feedback is used within [[teledildonics]], or "sex-technology", in order to remotely connect sex toys and allow users to engage in virtual sex or allow a remote server to control their sex toy. The term was first coined by Ted Nelson in 1975, when discussing the future of love, intimacy and technology.{{Citation needed|date=January 2021}} In recent years, teledildonics and sex-technology have expanded to include toys with a two-way connection that allow virtual sex through the communication of vibrations, pressures and sensations. Many "smart" vibrators allow for a one-way connection either between the user, or a remote partner, to allow control of the toy.

=== Neurorehabilitation and balance ===
For individuals with upper limb motor dysfunction, robotic devices utilizing haptic feedback could be used for neurorehabilitation. Robotic devices, such as end-effectors, and both grounded and ungrounded exoskeletons have been designed to assist in restoring control over several muscle groups. Haptic feedback applied by these robotic devices helps in the recovery of sensory function due to its more immersive nature.<ref>Piggott, Leah, Samantha Wagner, and Mounia Ziat. "Haptic neurorehabilitation and virtual reality for upper limb paralysis: A review." Critical Reviews™ in Biomedical Engineering 44.1-2 (2016).</ref>

Haptic technology can also provide sensory feedback to ameliorate age-related impairments in balance control<ref>Attila A Priplata, James B Niemi, Jason D Harry, Lewis A Lipsitz, James J Collins. [http://www.bu.edu/abl/pdf/priplata2003lancet.pdf "Vibrating insoles and balance control in elderly people"] {{webarchive|url=https://web.archive.org/web/20120610053057/http://www.bu.edu/abl/pdf/priplata2003lancet.pdf|date=2012-06-10}} ''The Lancet'', Vol 362, October 4, 2003.</ref> and prevent falls in the elderly and balance-impaired.<ref>{{cite web |last=Gardner |first=Julie |date=2014-12-10 |title=Vibrating Insoles May Improve Balance in Seniors |url=https://boston.cbslocal.com/guide/bidmc-healthy-living-2014-vibrating-insoles-may-improve-balance-in-seniors/ |access-date=2019-07-20 |website=CBS Boston |language=en-US}}</ref> Haptic Cow and Horse are used in veterinary training.<ref>{{Cite web |date=2015-09-29 |title=Arizona Vet School Installs Haptic Cow, Horse |url=https://www.veterinarypracticenews.ca/arizona-vet-school-installs-haptic-cow-horse/ |access-date=2022-01-13 |website=Veterinary Practice News |language=en-CA}}</ref>

===Puzzles===
Haptic puzzles have been devised in order to investigate goal-oriented haptic exploration, search, learning and memory in complex 3D environments.<ref>{{cite web |title=Haptic Puzzles with Modular Haptic Stimulus Board (MHSB) |url=https://ni.www.techfak.uni-bielefeld.de/node/3574}}</ref><ref>{{cite journal |date=April 2016 |title=Search Procedures during Haptic Search in an Unstructured 3D Display, A. Moringen, R. Haschke, H. Ritter |url=https://ieeexplore.ieee.org/document/7463176 |pages=192–197 |doi=10.1109/HAPTICS.2016.7463176 |s2cid=4135569}}</ref> The goal is to both enable multi-fingered robots with a sense of touch, and gain more insights into human meta-learning.

=== Art ===
Haptic technologies have been explored in virtual arts, such as [[sound synthesis]] or [[graphic design]], that make some loose vision and [[animation]].<ref>{{Cite journal |last1=Sommerer |first1=Christa |last2=Mignonneau |first2=Laurent |date=1999-06-01 |title=Art as a Living System: Interactive Computer Artworks |journal=Leonardo |volume=32 |issue=3 |pages=165–173 |doi=10.1162/002409499553190 |issn=0024-094X |s2cid=57569436}}</ref> Haptic technology was used to enhance existing art pieces in the [[Tate]] Sensorium exhibit in 2015.<ref>{{Cite news |last=Davis |first=Nicola |date=2015-08-22 |title=Don't just look – smell, feel, and hear art. Tate's new way of experiencing paintings |url=https://www.theguardian.com/artanddesign/2015/aug/22/tate-sensorium-art-soundscapes-chocolates-invisible-rain |access-date=2019-07-20 |work=The Observer |language=en-GB |issn=0029-7712}}</ref> In music creation, Swedish synthesizer manufacturer [[Teenage Engineering]] introduced a haptic [[subwoofer]] module for their OP-Z synthesizer allowing musicians to feel the bass frequencies directly on their instrument.<ref>{{cite web |last1=Inglis |first1=Sam |title=SynthFest UK — Teenage Engineering OP-Z Rumble Pack |url=https://www.soundonsound.com/news/synthfest-uk-teenage-engineering-op-z-rumble-pack |access-date=24 October 2019 |website=www.soundonsound.com}}</ref>

=== Space ===
The use of haptic technologies may be useful in [[space exploration]], including visits to the [[Mars|planet Mars]], according to news reports.<ref name="WP-20201215">{{cite news |last=Von Drehle |first=David |date=15 December 2020 |title=Humans don't have to set foot on Mars to visit it |url=https://www.washingtonpost.com/opinions/humans-dont-have-to-set-foot-on-mars-to-visit-it/2020/12/15/b1df2afe-3f05-11eb-9453-fc36ba051781_story.html |access-date=16 December 2020 |newspaper=[[The Washington Post]]}}</ref>

== See also ==
* [[Haptics (disambiguation)]]
* [[Haptic perception]]
* [[Linkage (mechanical)]]
* [[Organic user interface]]
* [[Sonic interaction design]]
* [[Stylus (computing)]]
* [[Tactile imaging]]
* [[Wired glove]]

== References ==
{{reflist|colwidth=30em}}

== Further reading ==
{{refbegin}}
* Klein, D.D.; Rensink, H.; Freimuth, G.J.; Monkman, S.; Egersdörfer, H.; Böse & M. Baumann. [http://iopscience.iop.org/article/10.1088/0022-3727/37/5/023/meta Modelling the Response of a Tactile Array using Electrorheological Fluids]. ''Journal of Physics D: Applied Physics'', Vol. 37, No. 5, pp.&nbsp;794–803, 2004.
* Klein, D.H.; Freimuth, G.J.; Monkman, S.; Egersdörfer, A.; Meier, H.; Böse M.; Baumann, H;, Ermert & O. T. Bruhns. "Electrorheological Tactile Elements". ''Mechatronics'' Vol. 15, No. 7, pp.&nbsp;883–97. Pergamon, September 2005.
* Monkman. G.J. [https://www.mitpressjournals.org/doi/abs/10.1162/pres.1992.1.2.219 “An Electrorheological Tactile Display”]. ''Presence'' (''Journal of Teleoperators and Virtual Environments'') Vol. 1, No. 2, pp.&nbsp;219–28, MIT Press, July 1992.
* Parisi, David. [https://www.upress.umn.edu/book-division/books/archaeologies-of-touch Archaeologies of Touch - Interfacing with Haptics from Electricity to Computing]. University of Minnesota Press. {{ISBN|978-1-5179-0059-5}}. 
* [https://web.archive.org/web/20110726191736/http://www.isfh.org/GR-Principles_Haptic_Percept_VE.pdf Robles-De-La-Torre G. Principles of Haptic Perception in Virtual Environments. In Grunwald M (Ed.), ''Human Haptic Perception'', Birkhäuser Verlag, 2008].
* {{Cite book |first1=A. | last1=Vashisth | first2 = S. | last2 = Mudur | title=Proceedings of the 2008 C3S2E conference on - C3S2E '08 | chapter=Deforming point-based models using an electronic glove | year = 2008 |doi=10.1145/1370256.1370288 |page=193 | isbn=978-1-60558-101-9 | s2cid=15769903 }}
{{refend}}

==External links==
{{Commons category|Haptic technology}}
*{{HowStuffWorks|haptic-technology}}
*[https://www.precisionmicrodrives.com/content/what-vibration-frequency-is-best-for-haptic-feedback/ What Vibration Frequency Is Best For Haptic Feedback?] {{Webarchive|url=https://web.archive.org/web/20210926025627/https://www.precisionmicrodrives.com/content/what-vibration-frequency-is-best-for-haptic-feedback/ |date=2021-09-26 }}

{{Game controllers}}

[[Category:Haptic technology| ]]
[[Category:Computing input devices]]
[[Category:Computer output devices]]
[[Category:Holography]]
[[Category:Multimodal interaction]]
[[Category:Nonverbal communication]]
[[Category:Game controllers]]
[[Category:Virtual reality]]
[[Category:Medical education]]
[[Category:Educational technology]]