Most of the current haptic rendering techniques model either force-interaction through a pen-like tool or vibration-interaction on the finger tip. Such techniques are not able, nowadays, to provide force-feedback of the interaction through the human hand. In this paper, we address some of the computational challenges in computing haptic feedback forces for hand-based interaction. We describe a haptic rendering algorithm that enables interactive contact between deformable surfaces, even with self-collisions and friction. This algorithm relies on a virtual hand model that combines rigid and deformable components, and we present the efficient simulation of such model under robust implicit integration.

@InProceedings\{GO09a,
  author       = "Garre, Carlos and Otaduy, Miguel A.",
  title        = "Toward Haptic Rendering of Full-Hand Touch",
  booktitle    = "Proc. of Congreso Español de Informática Gráfica",
  year         = "2009",
  url          = "http://gmrv.es/Publications/2009/GO09a"
}