Ming C. Lin & Miguel Otaduy 
Haptic Rendering [PDF ebook] 
Foundations, Algorithms, and Applications

For a long time, human beings have dreamed of a virtual world where it is possible to interact with synthetic entities as if they were real. It has been shown that the ability to touch virtual objects increases the sense of presence in virtual environments. This book provides an authoritative overview of state-of-theart haptic rendering algorithms