1. Fundamentals of Haptic Rendering
1.1 Introduction
1.2 Computational Challenges
1.3 Psychophysics of Haptics
1.4 Stability and Transparency
1.5 Three-DoF Haptic Rendering
1.6 Chapter Outline
2. Six-DoF Haptic Rendering Methodologies
2.1 Rigid-Body Simulation
2.2 Direct Rendering
2.3 Simulation-Based Rendering
2.4 Multirate Methodologies
3. Collision Detection Methods
3.1 Broad versus Narrow Phase
3.2 Proximity Queries between Convex Polyh...