This book introduces the latest progress in six degrees of freedom (6-DoF) haptic rendering with the focus on a new approach for simulating force/torque feedback in performing tasks that require dexterous manipulation skills. One of the major challenges in 6-DoF haptic rendering is to resolve the conflict between high speed and high fidelity requirements, especially in simulating a tool interacting with both rigid and deformable objects in a narrow space and with fine features. The book presents a configuration-based optimization approach to tackle this challenge. Addressing a key issue in many VR-based simulation systems, the book will be of particular interest to researchers and professionals in the areas of surgical simulation, rehabilitation, virtual assembly, and inspection and maintenance.

Introduces novel algorithms for 6-DoF haptic rendering of both rigid and deformable objects in complex interaction Targets simulation of fine manipulation Applies haptic rendering to dental simulation Addresses evaluation of 6-DoF haptic rendering methods Provides internet support with downloadable demos and codes Includes supplementary material: sn.pub/extras