S urface texture, slip, impact, and puncture. Commonly modeled by an array of closely-spaced pins that can be individually raised and lowered. We infer material composition and temperature difference. Thermal display devices usually based on Peltier thermoelectric coolers. A force-reflecting device can additionally make the operator feel the forces measured by the remote manipulator.
Users insert their index finger into a thimble.
The Pen Based Force Display developed at the University of Washington. Immersion Corp. Touchback Keyboard of Stanford University . Make a synthesizer keyboard feel like a real piano. Simulated piano action appear passive to the user. The Mad Catz Analog Steering Wheel for PlayStation and Steering wheel in Ataris's Hard Driving and Hard Racin Arcade games.