Haptics research has permeated many disciplines and application areas. Early efforts in haptics focused on sensory substitution: stimulating the sense of touch to convey imagery or speech for individuals with visual and/or auditory impairments. With the advent of force-feedback devices, there has been renewed interest in using haptic interfaces in teleoperator systems and virtual environments. Most recently, touchscreen displays and wearable devices have been capturing the attention of haptics researchers.
