<s>
Haptic	B-Device
technology	I-Device
(	O
also	O
kinaesthetic	O
communication	O
or	O
3D	O
touch	O
)	O
is	O
technology	O
that	O
can	O
create	O
an	O
experience	O
of	O
touch	O
by	O
applying	O
forces	O
,	O
vibrations	O
,	O
or	O
motions	O
to	O
the	O
user	O
.	O
</s>
<s>
These	O
technologies	O
can	O
be	O
used	O
to	O
create	O
virtual	O
objects	O
in	O
a	O
computer	B-Application
simulation	I-Application
,	O
to	O
control	O
virtual	O
objects	O
,	O
and	O
to	O
enhance	O
remote	O
control	O
of	O
machines	O
and	O
devices	O
(	O
telerobotics	O
)	O
.	O
</s>
<s>
Haptic	B-Device
devices	I-Device
may	O
incorporate	O
tactile	B-Algorithm
sensors	I-Algorithm
that	O
measure	O
forces	O
exerted	O
by	O
the	O
user	O
on	O
the	O
interface	O
.	O
</s>
<s>
Simple	O
haptic	B-Device
devices	I-Device
are	O
common	O
in	O
the	O
form	O
of	O
game	B-Device
controllers	I-Device
,	O
joysticks	B-Device
,	O
and	O
steering	O
wheels	O
.	O
</s>
<s>
Haptic	B-Device
technology	I-Device
facilitates	O
investigation	O
of	O
how	O
the	O
human	O
sense	O
of	O
touch	O
works	O
by	O
allowing	O
the	O
creation	O
of	O
controlled	O
haptic	O
virtual	O
objects	O
.	O
</s>
<s>
Most	O
researchers	O
distinguish	O
three	O
sensory	O
systems	O
related	O
to	O
sense	O
of	O
touch	O
in	O
humans	O
:	O
cutaneous	B-Algorithm
,	O
kinaesthetic	O
and	O
haptic	O
.	O
</s>
<s>
All	O
perceptions	O
mediated	O
by	O
cutaneous	B-Algorithm
and	O
kinaesthetic	O
sensibility	O
are	O
referred	O
to	O
as	O
tactual	O
perception	O
.	O
</s>
<s>
One	O
of	O
the	O
earliest	O
applications	O
of	O
haptic	B-Device
technology	I-Device
was	O
in	O
large	O
aircraft	O
that	O
use	O
servomechanism	O
systems	O
to	O
operate	O
control	O
surfaces	O
.	O
</s>
<s>
Alternatively	O
,	O
the	O
servo	O
force	O
may	O
be	O
measured	O
and	O
the	O
signal	O
directed	O
to	O
a	O
servo	O
system	O
on	O
the	O
control	O
,	O
also	O
known	O
as	O
force	B-Device
feedback	I-Device
.	O
</s>
<s>
Force	B-Device
feedback	I-Device
has	O
been	O
implemented	O
experimentally	O
in	O
some	O
excavators	O
and	O
is	O
useful	O
when	O
excavating	O
mixed	O
material	O
such	O
as	O
large	O
rocks	O
embedded	O
in	O
silt	O
or	O
clay	O
.	O
</s>
<s>
In	O
1994	O
,	O
the	O
Aura	B-Application
Interactor	I-Application
vest	O
was	O
developed	O
.	O
</s>
<s>
In	O
1995	O
,	O
Norwegian	O
Geir	O
Jensen	O
described	O
a	O
wristwatch	O
haptic	B-Device
device	I-Device
with	O
a	O
skin	O
tap	O
mechanism	O
,	O
termed	O
Tap-in	O
.	O
</s>
<s>
The	O
wristwatch	O
would	O
connect	O
to	O
a	O
mobile	O
phone	O
via	O
Bluetooth	B-Protocol
,	O
and	O
tapping-frequency	O
patterns	O
would	O
enable	O
the	O
wearer	O
to	O
respond	O
to	O
callers	O
with	O
selected	O
short	O
messages	O
.	O
</s>
<s>
In	O
2015	O
,	O
the	O
Apple	B-Device
Watch	I-Device
was	O
launched	O
.	O
</s>
<s>
Piezoelectric	O
actuators	B-Algorithm
are	O
also	O
employed	O
to	O
produce	O
vibrations	O
,	O
and	O
offer	O
even	O
more	O
precise	O
motion	O
than	O
LRAs	O
,	O
with	O
less	O
noise	O
and	O
in	O
a	O
smaller	O
platform	O
,	O
but	O
require	O
higher	O
voltages	O
than	O
do	O
ERMs	O
and	O
LRAs	O
.	O
</s>
<s>
Force	B-Device
feedback	I-Device
devices	O
use	O
motors	O
to	O
manipulate	O
the	O
movement	O
of	O
an	O
item	O
held	O
by	O
the	O
user	O
.	O
</s>
<s>
A	O
common	O
use	O
is	O
in	O
automobile	O
driving	O
video	O
games	O
and	O
simulators	O
,	O
which	O
turn	O
the	O
steering	B-Application
wheel	I-Application
to	O
simulate	O
forces	O
experienced	O
when	O
cornering	O
a	O
real	O
vehicle	O
.	O
</s>
<s>
Direct-drive	B-Application
wheels	I-Application
,	O
introduced	O
in	O
2013	O
,	O
are	O
based	O
on	O
servomotors	B-Algorithm
and	O
are	O
the	O
most	O
high-end	O
,	O
for	O
strength	O
and	O
fidelity	O
,	O
type	O
of	O
force	B-Device
feedback	I-Device
racing	B-Application
wheels	I-Application
.	O
</s>
<s>
In	O
2007	O
,	O
Novint	B-Device
released	O
the	O
Falcon	O
,	O
the	O
first	O
consumer	O
3D	O
touch	O
device	O
with	O
high	O
resolution	O
three-dimensional	O
force	B-Device
feedback	I-Device
.	O
</s>
<s>
Focused	O
ultrasound	B-Application
beams	O
can	O
be	O
used	O
to	O
create	O
a	O
localized	O
sense	O
of	O
pressure	O
on	O
a	O
finger	O
without	O
touching	O
any	O
physical	O
object	O
.	O
</s>
<s>
The	O
focal	O
point	O
that	O
creates	O
the	O
sensation	O
of	O
pressure	O
is	O
generated	O
by	O
individually	O
controlling	O
the	O
phase	O
and	O
intensity	O
of	O
each	O
transducer	O
in	O
an	O
array	O
of	O
ultrasound	B-Application
transducers	O
.	O
</s>
<s>
Towards	O
this	O
goal	O
plates	O
can	O
be	O
made	O
to	O
vibrate	O
at	O
an	O
ultrasonic	B-Application
frequency	O
which	O
reduces	O
the	O
friction	O
between	O
the	O
plate	O
and	O
skin	O
.	O
</s>
<s>
Additional	O
contact	O
surfaces	O
,	O
for	O
example	O
the	O
steering	B-Application
wheel	I-Application
or	O
seat	O
,	O
can	O
also	O
provide	O
haptic	O
information	O
to	O
the	O
driver	O
,	O
for	O
example	O
,	O
a	O
warning	O
vibration	O
pattern	O
when	O
close	O
to	O
other	O
vehicles	O
.	O
</s>
<s>
Haptic	B-Device
technologies	I-Device
have	O
been	O
explored	O
in	O
virtual	O
arts	O
,	O
such	O
as	O
sound	O
synthesis	O
or	O
graphic	O
design	O
.	O
</s>
<s>
Haptic	B-Device
technology	I-Device
was	O
used	O
to	O
enhance	O
existing	O
art	O
pieces	O
in	O
the	O
Tate	O
Sensorium	O
exhibit	O
in	O
2015	O
.	O
</s>
<s>
In	O
music	O
creation	O
,	O
Swedish	O
synthesizer	O
manufacturer	O
Teenage	O
Engineering	O
introduced	O
a	O
haptic	O
subwoofer	B-Application
module	O
for	O
their	O
OP-Z	O
synthesizer	O
allowing	O
musicians	O
to	O
feel	O
the	O
bass	O
frequencies	O
directly	O
on	O
their	O
instrument	O
.	O
</s>
<s>
Force-feedback	O
can	O
be	O
used	O
to	O
increase	O
adherence	O
to	O
a	O
safe	O
flight	B-Device
envelope	I-Device
and	O
thus	O
reduce	O
the	O
risk	O
of	O
pilots	O
entering	O
dangerous	O
states	O
of	O
flights	O
outside	O
the	O
operational	O
borders	O
while	O
maintaining	O
the	O
pilots	O
 '	O
final	O
authority	O
and	O
increasing	O
their	O
situation	O
awareness	O
.	O
</s>
<s>
Haptic	B-Device
technology	I-Device
has	O
enabled	O
the	O
development	O
of	O
telepresence	B-Application
surgery	O
,	O
allowing	O
expert	O
surgeons	O
to	O
operate	O
on	O
patients	O
from	O
a	O
distance	O
.	O
</s>
<s>
Haptic	B-Device
technology	I-Device
can	O
also	O
provide	O
sensory	O
feedback	O
to	O
ameliorate	O
age-related	O
impairments	O
in	O
balance	O
control	O
and	O
prevent	O
falls	O
in	O
the	O
elderly	O
and	O
balance-impaired	O
.	O
</s>
<s>
The	O
Nexus	B-Application
One	I-Application
features	O
haptic	O
feedback	O
,	O
according	O
to	O
their	O
specifications	O
.	O
</s>
<s>
The	O
TPaD	O
Tablet	O
Project	O
uses	O
an	O
ultrasonic	B-Application
technology	O
to	O
modulate	O
the	O
apparent	O
slipperiness	O
of	O
a	O
glass	O
touchscreen	O
.	O
</s>
<s>
Apple	O
's	O
U.S.	O
Patent	O
for	O
a	O
"	O
Method	O
and	O
apparatus	O
for	O
localization	O
of	O
haptic	O
feedback	O
"	O
describes	O
a	O
system	O
where	O
at	O
least	O
two	O
actuators	B-Algorithm
are	O
positioned	O
beneath	O
a	O
multitouch	O
input	O
device	O
,	O
providing	O
vibratory	O
feedback	O
when	O
a	O
user	O
makes	O
contact	O
with	O
the	O
unit	O
.	O
</s>
<s>
Apple	O
's	O
iPhones	B-Device
(	O
and	O
MacBooks	B-Device
)	O
featuring	O
the	O
"	O
Taptic	O
Engine	O
"	O
,	O
accomplish	O
their	O
vibrations	O
with	O
a	O
linear	O
resonant	O
actuator	O
(	O
LRA	O
)	O
,	O
which	O
moves	O
a	O
mass	O
in	O
a	O
reciprocal	O
manner	O
by	O
means	O
of	O
a	O
magnetic	B-Device
voice	I-Device
coil	I-Device
,	O
similar	O
to	O
how	O
AC	O
electrical	O
signals	O
are	O
translated	O
into	O
motion	O
in	O
the	O
cone	O
of	O
a	O
loudspeaker	O
.	O
</s>
<s>
In	O
2008	O
,	O
Apple	O
Inc.	O
'	O
s	O
MacBook	B-Device
and	O
MacBook	B-Device
Pro	I-Device
started	O
incorporating	O
a	O
"	O
Tactile	O
Touchpad	O
"	O
design	O
with	O
button	O
functionality	O
and	O
haptic	O
feedback	O
incorporated	O
into	O
the	O
tracking	O
surface	O
.	O
</s>
<s>
Products	O
such	O
as	O
the	O
Synaptics	B-Language
ClickPad	O
followed	O
.	O
</s>
<s>
In	O
2015	O
,	O
Apple	O
introduced	O
"	O
Force	B-Device
Touch	I-Device
"	O
trackpads	O
onto	O
the	O
2015	O
MacBook	B-Device
Pro	I-Device
which	O
simulates	O
clicks	O
with	O
a	O
"	O
Taptic	O
Engine	O
"	O
.	O
</s>
<s>
Haptic	O
feedback	O
is	O
essential	O
to	O
perform	O
complex	O
tasks	O
via	O
telepresence	B-Application
.	O
</s>
<s>
The	O
use	O
of	O
haptic	B-Device
technologies	I-Device
may	O
be	O
useful	O
in	O
space	O
exploration	O
,	O
including	O
visits	O
to	O
the	O
planet	B-Application
Mars	I-Application
,	O
according	O
to	O
news	O
reports	O
.	O
</s>
<s>
A	O
tactile	O
electronic	O
display	O
is	O
a	O
display	B-Device
device	I-Device
that	O
delivers	O
text	O
and	O
graphical	O
information	O
using	O
the	O
sense	O
of	O
touch	O
.	O
</s>
<s>
Since	O
then	O
,	O
the	O
use	O
of	O
force	B-Device
feedback	I-Device
has	O
become	O
more	O
widespread	O
in	O
other	O
kinds	O
of	O
teleoperators	O
,	O
such	O
as	O
remote-controlled	O
underwater	O
exploration	O
devices	O
.	O
</s>
<s>
Devices	O
such	O
as	O
medical	O
simulators	O
and	O
flight	B-Application
simulators	I-Application
ideally	O
provide	O
the	O
force	B-Device
feedback	I-Device
that	O
would	O
be	O
felt	O
in	O
real	O
life	O
.	O
</s>
<s>
In	O
1976	O
,	O
Sega	O
's	O
motorbike	O
game	O
Moto-Cross	B-Application
,	O
also	O
known	O
as	O
Fonz	B-Application
,	O
was	O
the	O
first	O
game	O
to	O
use	O
haptic	O
feedback	O
,	O
causing	O
the	O
handlebars	O
to	O
vibrate	O
during	O
a	O
collision	O
with	O
another	O
vehicle	O
.	O
</s>
<s>
Tatsumi	O
's	O
TX-1	B-Application
introduced	O
force	B-Device
feedback	I-Device
to	O
car	O
driving	O
games	O
in	O
1983	O
.	O
</s>
<s>
added	O
haptic	O
feedback	O
to	O
a	O
pinball	B-Application
machine	O
in	O
1989	O
.	O
</s>
<s>
Simple	O
haptic	B-Device
devices	I-Device
are	O
common	O
in	O
the	O
form	O
of	O
game	B-Device
controllers	I-Device
,	O
joysticks	B-Device
,	O
and	O
steering	O
wheels	O
.	O
</s>
<s>
Early	O
implementations	O
were	O
provided	O
through	O
optional	O
components	O
,	O
such	O
as	O
the	O
Nintendo	B-Operating_System
64	I-Operating_System
controller	O
's	O
Rumble	B-Device
Pak	I-Device
in	O
1997	O
.	O
</s>
<s>
In	O
the	O
same	O
year	O
,	O
the	O
Microsoft	O
SideWinder	O
Force	B-Device
Feedback	I-Device
Pro	O
with	O
built-in	O
feedback	O
was	O
released	O
by	O
Immersion	B-Application
Corporation	O
.	O
</s>
<s>
Many	O
console	O
controllers	O
and	O
joysticks	B-Device
feature	O
built-in	O
feedback	O
devices	O
,	O
which	O
are	O
motors	O
with	O
unbalanced	O
weights	O
that	O
spin	O
,	O
causing	O
it	O
to	O
vibrate	O
,	O
including	O
Sony	O
's	O
DualShock	B-Device
technology	O
and	O
Microsoft	O
's	O
Impulse	B-Device
Trigger	I-Device
technology	O
.	O
</s>
<s>
Some	O
automobile	O
steering	B-Application
wheel	I-Application
controllers	O
,	O
for	O
example	O
,	O
are	O
programmed	O
to	O
provide	O
a	O
"	O
feel	O
"	O
of	O
the	O
road	O
.	O
</s>
<s>
As	O
the	O
user	O
makes	O
a	O
turn	O
or	O
accelerates	O
,	O
the	O
steering	B-Application
wheel	I-Application
responds	O
by	O
resisting	O
turns	O
or	O
slipping	O
out	O
of	O
control	O
.	O
</s>
<s>
2013	O
:	O
Steam	B-Device
Machines	I-Device
microconsoles	O
by	O
Valve	O
,	O
including	O
a	O
new	O
Steam	O
Controller	O
unit	O
that	O
uses	O
weighted	O
electromagnets	O
capable	O
of	O
delivering	O
a	O
wide	O
range	O
of	O
haptic	O
feedback	O
via	O
the	O
unit	O
's	O
trackpads	O
.	O
</s>
<s>
Also	O
in	O
2013	O
the	O
first	O
direct-drive	B-Application
wheel	I-Application
for	O
sim	B-Application
racing	I-Application
was	O
introduced	O
.	O
</s>
<s>
2015	O
:	O
The	O
Steam	O
Controller	O
with	O
HD	O
Haptics	O
,	O
with	O
haptic	O
force	O
actuators	B-Algorithm
on	O
both	O
sides	O
of	O
the	O
controller	O
,	O
by	O
Valve	O
.	O
</s>
<s>
2017	O
:	O
The	O
Nintendo	B-Application
Switch	I-Application
's	O
Joy-Con	B-General_Concept
introduced	O
the	O
HD	O
Rumble	O
feature	O
,	O
developed	O
with	O
Immersion	B-Application
Corporation	O
and	O
using	O
Alps	O
actuators	B-Algorithm
.	O
</s>
<s>
2020	O
:	O
The	O
Sony	B-Device
PlayStation	I-Device
5	I-Device
DualSense	O
controllers	O
supports	O
vibrotactile	O
haptic	O
provided	O
by	O
voice	B-Device
coil	I-Device
actuators	B-Algorithm
integrated	O
in	O
the	O
palm	O
grips	O
,	O
and	O
force	B-Device
feedback	I-Device
for	O
the	O
Adaptive	O
Triggers	O
provided	O
by	O
two	O
DC	O
rotary	O
motors	O
.	O
</s>
<s>
The	O
actuators	B-Algorithm
in	O
the	O
hand	O
grip	O
able	O
to	O
give	O
varied	O
and	O
intuitive	O
feedback	O
about	O
in-game	O
actions	O
for	O
example	O
,	O
in	O
a	O
sandstorm	O
,	O
you	O
can	O
feel	O
the	O
wind	O
and	O
sand	O
,	O
and	O
the	O
motors	O
in	O
the	O
Adaptive	O
Triggers	O
supporting	O
experiences	O
such	O
as	O
virtually	O
drawing	O
an	O
arrow	O
from	O
a	O
bow	O
.	O
</s>
<s>
2021	O
,	O
SuperTuxKart	B-Application
1.3	O
was	O
released	O
,	O
it	O
has	O
support	O
for	O
force	B-Device
feedback	I-Device
.	O
</s>
<s>
Force	B-Device
feedback	I-Device
is	O
extremely	O
uncommon	O
for	O
free	B-Application
software	I-Application
games	O
.	O
</s>
<s>
Haptics	O
are	O
gaining	O
widespread	O
acceptance	O
as	O
a	O
key	O
part	O
of	O
virtual	B-Application
reality	I-Application
systems	O
,	O
adding	O
the	O
sense	O
of	O
touch	O
to	O
previously	O
visual-only	O
interfaces	O
.	O
</s>
<s>
Several	O
companies	O
are	O
making	O
full-body	O
or	O
torso	O
haptic	B-Operating_System
vests	I-Operating_System
or	O
haptic	B-Operating_System
suits	I-Operating_System
for	O
use	O
in	O
immersive	O
virtual	B-Application
reality	I-Application
to	O
allow	O
users	O
to	O
feel	O
explosions	O
and	O
bullet	O
impacts	O
.	O
</s>
