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.
