From: blake@u.washington.edu (Blake Hannaford)
Subject: Re: DESIGN: Tactile,Haptic,Kinaesthetic Feedback Terminology
Date: 19 Dec 1995 07:11:50 GMT
Organization: University of Washington


From: blake@u.washington.edu (Blake Hannaford)

I think that you are more or less correct in your judgement of the
meanings of these terms.  However, we are far from standard
definitions.  First, as you mention, I would reserve the term
"tactile" for devices which contain a fine two dimensional array of
pressure stimulators and which primarily address interaction with
textures and edges.

In my opinion the following terms are clear for the type of device you
describe.  However the field is not mature enough for there to be any
significant difference between them in terms of nuance.

Force Display
Force Feedback Device
Haptic Display 
Force Reflecting Hand Controller

I would understand all of the above to mean a device like yours which
applys a computed force in response to a human displacement OR which
applys a computed displacement in response to a human force.

By the way, "haptic" refers to the combination of manipulation and
kinsthetic and tactile perception.  In other words, the process of 
turning and feeling an object with the fingers for the purpose of 
indentifying it.  

The key point is that the this mode is inherently different from all
other sensory modalities because energy is exchanged IN BOTH DIRECTIONS
between the human and the environment.

Blake Hannaford
University of Washington