Haptic　technology　has　been　widely　applied　in　various　fields　as　a　new　type　of　immersive　interaction　method.　In　a　haptic　interaction　system,　data　may　be　lost　due　to　the　fluctuation　of　network　environment,　which　obviously　has　negative　influence　on　user＇s　quality　of　experience.　Error　resilience　is　an　effective　method　to　solve　the　above　problem.　In　this　paper,　we　first　establish　a　real　haptic　interaction　system　as　the　platform　of　the　successive　experiments.　Then,　a　new　quality　metric　named　haptic　perception　metric　(HPM)　is　proposed.　Based　on　this　metric,　we　design　experiments　to　determine　an　optimal　prediction　algorithm　for　error　resilience.　Experimental　results　show　that　the　prediction　algorithm　can　effectively　implement　error　resilience　under　different　packet　loss　rates.　It　can　also　be　confirmed　that　the　proposed　HPM　metric　can　better　reflect　the　quality　of　haptic　interaction.　©　2019　IEEE.