Cugini, U.Bordegoni, M.Rizzi, C.De Angelis, F.Prati, M.2015-11-112015-11-1119991017-4656https://doi.org/10.2312/egst.19991066This report presents an overview of main modelling and simulation techniques for non–rigid objects discussing advantages and disadvantages. Related techniques to face several problems rising when dealing with deformable objects simulation are also discussed. They concern numerical solvers, constraints management and collision detection. In the simulation of non-rigid objects another relevant issue is the provision of operational modality at higher and higher level and more and more useroriented. The paradigm of haptic interaction recently developed seems promising to achieve this goal. Haptic interaction allows the users to feel several physical properties of the modelled objects through the manipulation of their virtual representation. Thus, second part of the report focuses on the state-of-theart of haptic devices, technologies and applications concerning interaction with non-rigid models. A classification from different point of views is proposed. The specific work our group is performing in the area of non-rigid objects modelling and simulation and haptic interaction with non-rigid models is also illustrated.