“…To formalize this step, there is a critical need for the haptics and HCI communities to jointly map the large space of haptic stimulus and icon design, and support it with heuristics, such as those gleanable from (van Erp, 2002;Swindells et al, 2005;Brown et al, 2006a, b;Luk et al, 2006), as well as prototyping tools (e.g., Enriquez and MacLean, 2003;Swindells et al, 2006) and perceptual foundations (in the manner of Tan et al, 1999Tan et al, , 2003MacLean, 2004, 2007;Pasquero, 2006;Dixon et al, 2007;.…”