Skip navigation

ME 20N: Haptics: Engineering Touch


Welcome to ME 20N: Haptics: Engineering Touch. In this class, we will study the design and control of haptic systems, which provide touch feedback to human users interacting with virtual environments and teleoperated robots. This class is a Freshman Introductory Seminar, and is aimed toward students with interests in engineering, computer science, and human-machine interaction. This class requires high school physics (non-calculus-based) and pre-calculus. Attendance is required if you are taking the class. Due to the interactive nature and laboratory aspect of this class, we cannot accommodate auditors . Course information and policies are contained in the syllabus. This is an introductory course designed for Freshman. ME 327 Design and Control of Haptic Systems (next taught in Winter 2018) is a another haptics course design for senior undergraduates and graduate students. An abbreviated self-paced online version of the class is also available to the public.

The instructor is Allison Okamura, Professor in Mechanical Engineering at Stanford University. Allison has been a professor in the fields of haptics and medical robotics for about 17 years. There is no teaching assistant for this class, but Mechanical Engineering undergraduate students Kaitlyn Gee and Tyler Cloyd will contribute as Course Development Assistants. Melisa Orta developed the Hapkit/Haplink used in this class. In addition, Tania Morimoto and Prof. Paulo Blikstein contributed to the course materials and content. Previous ME 20N students will help out as project coaches for this year's students.

Lectures/LabsTuesdays and Thursdays 1:30-2:50 pm in Building 520, Room 145 (also known as the d'Arbeloff Teaching Lab)
Allison's Office HoursMondays 2-3 pm, Wednesdays 9-10 am, and Fridays 3-4 pm (except 12/1) in the lab

Lecture and Lab Materials

Lecture and lab materials will be posted here as the quarter progresses.

Week 1, 9/26 & 9/28:Slides 1Lab 1
Week 2, 10/3 & 10/5:Slides 2Lab 2
Week 3, 10/10 & 10/12:Slides 3Lab 3
Week 4, 10/17 & 10/19Slides 4Lab 4
Week 5, 10/24 & 10/26Slides 5Lab5
Week 6, 10/31 & 11/2Slides 6Lab 6
Week 7, 11/7 & 11/9Slides 7Lab 7
Week 8, 11/14 & 11/16Slides 8Project
Week 9, 11/28 & 11/30Project work (no slides)
Week 10, 12/5 & 12/7Slides 10

Click here for Lab materials

Students in the class will use Hapkit, a haptic device created at Stanford specifically for teaching Haptics.


The final project for this class involves creating a novel haptic device that could be used to enhance human interaction with computers, mobile devices, or remote-controlled robots. Please join us on Thursday Dec. 7 from 1:30 to 2:15 pm in Building 520, Room 145 for our Haptics Open House -- hands-on demonstrations of the haptics projects.

Click here for Project materials

Final project reports (with open-source software and hardware designs) from previous offerings of this class are available at: and