Haptics is quite a difficult thing to describe to people without actually getting them to try out a system. This video was created to aid a talk on telehaptics, with the intention of showing the relationship between a haptic device (in the real world) and a simulated tactile and graphic object (in a virtual world).
The device is a Novint Falcon and the simulation is a demo from Chai 3D. I filmed the falcon while running the simulation and took a screen capture of the whole thing. An artifact of this was the horizontal compression.
Of course, a video will never beat getting someone's hands on a real device, but it should help the explanation.