Garre, CarlosOtaduy, Miguel A.Carlos Andujar and Javier Lluch2014-01-272014-01-272009978-3-905673-72-2http://dx.doi.org/10.2312/LocalChapterEvents/CEIG/CEIG09/019-026Most of the current haptic rendering techniques model either force-interaction through a pen-like tool or vibrationinteraction 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.Categories and Subject Descriptors (according to ACM CCS): I.3.7 [Computer Graphics]: Virtual Reality