Haptic Rendering in Virtual Environments

The goal of haptic rendering is to enable a user to touch, feel, and manipulate virtual objects through a haptic interface. With the introduction of high fidelity haptic devices (ref. **Biggs and Srinivasan Chapter**), it is now possible to simulate the feel of even fine surface textures on rigid complex shapes under dynamic conditions. Starting from the early nineties, significant progress has occurred in our ability