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.

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Dangxiao WANG is an Associate Professor at the State Key Laboratory of Virtual Reality Technology and System in Beihang University, China. His research interests include haptic rendering, medical robotic system and Neurohaptics. He is a senior member of IEEE. He has been the Chair of Executive Committee of IEEE Technical Committee on Haptics (IEEE TCH) from 2014. He served as the Vice Chair for Publications of IEEE TCH from 2011 to 2014.

Jing XIAO is a Professor of Computer Science, College of Computing and Informatics, University of North Carolina at Charlotte, USA. Her research interests include robotic manipulation and assembly, haptic rendering, and motion planning. She is a Fellow of IEEE.

Yuru ZHANG is a Professor and is the Vice Director of the State Key Laboratory of Virtual Reality Technology and System in Beihang University, China. She is also leading the Division of Human-Machine Interaction at the State Key Laboratory. Her research interests include haptic human-machine interface, medical robotic system, robotic dexterous manipulation, and virtual prototyping. She is a senior member of IEEE.

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