Virtual Reality (VR) systems have evolved in the way that the visual immersion provided by technologies like CAVEs (Cruz-Neira et al. in Commun. ACM, 1992) or head mounted devices is nearly perfect. But since the visual quality reached a satisfactory level, a deficiency became apparent in the interaction with the virtual environment. The absence of touch information during manipulative task made interactions difficult and cumbersome. Moreover, the estimation of material characteristics where necessary, e.g. medical surgery simulation, is nearly impossible (cf. Robles-De-La-Torre in IEEE Multimed. 13(3):24, 2006). Therefore, VR systems requiring the user to make complex interactions are augmented by a touch feedback. In the following the issues and concepts in providing a touch feedback which is also known as haptic interaction will be explained.


Virtual Environment Control Loop Collision Detection Haptic Device Virtual Reality System 
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