This article reviews the technology behind creating artificial touch sensations and the relevant aspects of human touch. We focus on the design and control of haptic devices and discuss the best practices for generating distinct and effective touch sensations. Artificial haptic sensations can present information to users, help them complete a task, augment or replace the other senses, and add immersiveness and realism to virtual interactions. We examine these applications in the context of different haptic feedback modalities and the forms that haptic devices can take. We discuss the prior work, limitations, and design considerations of each feedback modality and individual haptic technology. We also address the need to consider the neuroscience and perception behind the human sense of touch in the design and control of haptic devices.

Investigated the degree to which chronic, life-threatening illness and its treatment interfere with continued involvements in valued activities and interests--that is, illness intrusiveness--and its impact on quality of life in end-stage renal disease. Data were collected on two occasions separated by a lag of 6 weeks. Mixed analyses of variance indicated that life domains were affected differentially across treatments. Perceived illness intrusiveness correlated significantly with treatment time requirements, uremic symptoms, intercurrent nonrenal illnesses, fatigue, and difficulties in daily activities. Significant quality-of-life differences were observed across treatment modalities for satisfaction/happiness and pessimism/illness-related concerns but not for depression/distress. Perceived illness intrusiveness correlated significantly with each of these quality-of-life measures. Results were stable over time. These findings substantiate the construct of illness intrusiveness as a mediator of the psychosocial impact of chronic, life-threatening illness.

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Virtual reality systems would benefit from a compelling force sensory substitute when workspace or stability limitations prevent the use of kinesthetic force feedback systems. We present a wearable fingertip haptic device with the ability to make and break contact in addition to rendering both shear and normal skin deformation to the fingerpad. A delta mechanism with novel bias spring and tether actuator relocation method enables the use of high-end motors and encoders, allowing precise device control: 10 Hz bandwidth and 0.255 mm RMS tracking error were achieved during testing. In the first of two experiments, participants determined the orientation of a stiff region in a surrounding compliant virtual surface with an average angular error of 7.6 degree, similar to that found in previous studies using traditional force feedback. In the second experiment, we evaluated participants' ability to interpret differences in friction. The Just Noticeable Difference (JND) of surface friction coefficient discrimination using our skin deformation device was 0.20, corresponding with a reference friction coefficient of 0.5. While higher than that found using kinesthetic feedback, this demonstrates that users can perceive differences in surface friction without world-grounded kinesthetic forces. These experiments show that three DoF skin deformation enables both stiffness and friction discrimination capability in the absence of kinesthetic force feedback.