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Springer Handbook of Robotics pp 719–739Cite as

Haptics

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Abstract

The word haptics, believed to be derived from the Greek word haptesthai, means related to the sense of touch. In the psychology and neuroscience literature, haptics is the study of human touch sensing, specifically via kinesthetic (force/position) and cutaneous (tactile) receptors, associated with perception and manipulation. In the robotics and virtual reality literature, haptics is broadly defined as real and simulated touch interactions between robots, humans, and real, remote, or simulated environments, in various combinations. This chapter focuses on the use of specialized robotic devices and their corresponding control, known as haptic interfaces, that allow human operators to experience the sense of touch in remote (teleoperated) or simulated (virtual) environments.

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Abbreviations

CAD:

computer-aided design

EP:

exploratory procedures

FE:

finite element

HD:

haptic device

HIP:

haptic interaction point

HO:

human operator

IEEE:

Institute of Electrical and Electronics Engineers

JND:

just noticeable difference

MEMS:

microelectromechanical systems

NURBS:

non-uniform rational B-spline

RC:

radio-controlled

ROC:

receiver operating curve

SDK:

standard development kit

SMA:

shape-memory alloy

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Authors and Affiliations

  1. Department of Electrical Engineering, University of Washington, Box 352500, 98195-2500, Seattle, WA, USA

    Blake Hannaford Prof

  2. Department of Mechanical Engineering, The Johns Hopkins University, 3400 N. Charles Street, 21218, Baltimore, MD, USA

    Allison M. Okamura Prof

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  1. Blake Hannaford Prof
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  2. Allison M. Okamura Prof
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  1. PRISMA Lab, Dipartimento di Informatica e Sistemistica, Universitá degli Studi di Napoli Federico II, 80125, Napoli, Italy, Via Claudio 21

    Bruno Siciliano Prof.

  2. Artificial Intelligence Laboratory, Department of Computer Science, Stanford University, 94305-9010, Stanford, CA, USA

    Oussama Khatib Prof.

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Hannaford, B., Okamura, A.M. (2008). Haptics. In: Siciliano, B., Khatib, O. (eds) Springer Handbook of Robotics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-30301-5_31

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