ABSTRACT
Much progress has been made in the field in the past 10 to 15 years. We have seen a large increase in research on haptics and intermodal relations. We should point out that a great deal remains to be learned. Some theoretical problems have proven amenable to study, yet difficult issues persist. It is likely that we will see considerable progress in the field over the next decade. Some research will be prompted by concerns about application, as in robotic design, while other studies will stem from interests in fundamental theoretical issues.
