Haptics is an interdisciplinary field that seeks to both understand and engineer touch-based interaction. Although a wide range of systems and applications are being investigated, haptics researchers often concentrate on perception and manipulation through the human hand. A haptic interface is a mechatronic system that modulates the physical interaction between a human and his or her tangible surroundings. Haptic interfaces typically involve mechanical, electrical, and computational layers that work together to sense user motions or forces, quickly process these inputs with other information, and physically respond by actuating elements of the user’s surroundings, thereby enabling him or her to act on and feel a remote and/or virtual environment.