(1) The proposed virtual coupling was a virtual mechanical system interposed between the haptic interface and the virtual environment to limit the maximum or minimum impedance presented by the virtual environment in such a way as to guarantee stability.
(2) Haptic display: is a manner to transfert force or displacemnt information to users.
two classes: admittance and impetance based haptic display.
(3) Just as we need a visual model for visual display, a "Haptic Model" is necessary for haptic display.
There are three types of haptic rendering techniques:
(1) Point-based haptic rendering;
(2) Ray-based haptic rendering;
(3) Oject-based haptic rendering.
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