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Haptic rendering allows users to "feel" virtual objects in a simulated environment. We survey current haptic systems and discuss some basic haptic-rendering algorithms. In the past decade we've seen an enormous increase in interest in the science of haptics. Haptics broadly refers to touch interactions (physical contact) that occur for the purpose of perception or manipulation of objects. These interactions can be between a human hand and a real object; a robot end-effector and a real object; a human hand and a simulated object (via haptic interface devices); or a variety of combinations of human and machine interactions with real, remote, or virtual objects. Rendering refers to the process by which desired sensory stimuli are imposed on the user to convey information about a virtual haptic object.
Salisbury et al. (Mon,) studied this question.