Elements of Haptic Interfaces

A haptic interface plays the important role of connecting the user to the controller during interactions with remote and virtual objects. Such systems incorporate mechanical, electrical, and computational elements, which all interact to create the touch-based sensations experienced by the user. This document is concerned specifically with actuated impedance-type interfaces, which currently dominate the field due to their excellent free-space characteristics and their widespread use in a variety of applications. During an interaction, the controller of an impedance-type device must measure the user’s hand motion and apply an appropriate force in response. Impedance-type haptic interfaces vary in design, but they usually include a series of electrical and mechanical elements between the handle and the computer, as described below.