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Actuators are the most important elements of every haptic device, as their selection, respectively, their design influences the quality of the haptic impression significantly. This chapter deals with frequently used actuators structured based on their physical working principle. It focuses on the electrodynamic, electromagnetic, electrostatic, and piezoelectric actuation principle. Each actuator type is discussed as to its most important physical basics, with examples of their dimensioning, and one or more applications given. Other rarely used actuation principles are mentioned in several examples. The previous chapters were focused on the basics of control-engineering and kinematic design. They covered topics of structuring and fundamental character. This and the following chapters deal with the design of technical components as parts of haptic devices. Experience teaches us that actuators for haptic applications can rarely be found "off-the-shelf". Their requirements always include some outstanding features in rotational frequency, power density, working point, or geometry. These specialties make it necessary and helpful for their applicants to be aware of the capabilities and possibilities of modifications of existing actuators. Hence, this chapter addresses both groups of readers: users who want to choose a certain actuator and the mechanical engineer who intends to design a specific actuator for a certain device from scratch.Before a final selection of actuators is made, the appropriate kinematics and the control-engineering structure, according to the previous chapters, should have been fixed. However, in order to handle these questions in a reasonable way, some basic understanding of actuators is mandatory. In particular, the available energy densities, forces, and displacements should be estimated correctly for the intended haptic application. This section provides some suggestions and guidelines to help and preselect appropriate actuators based on the typical requirements. 9.1.

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