Haptics refers to sensing and manipulationn through touch. The word comes from thee Greek ‘haptesthai’, meaning ‘to touch’.The history of the haptic interfacedates back to the 1950s, when a master-slave pair system was proposed by Goertz (1952). Haptic interfaces were established out of thee field of tele- operation, which was then employed in the remote manipulation ofof radioactive materials. The ultimate goal of thee tele-operation system was "transparency".That is, an user interacting with the masterer device in a master-slave pair should not be
able to distinguish between using the masterer controller and manipulating the actual toolol itself. Early haptic interface systemswere therefore developed purely fortelerobotic applications.
