
551
21
Soft Skin Simulation for
Wearable Haptic Rendering
Gabriel Cirio, Alvaro G. Perez,
and Miguel A. Otaduy
CONTENTS
21.1 Related Work ................................................................................................ 554
21.1.1 Wearable Haptic Devices ..................................................................554
21.1.2 Soft Skin Simulation ......................................................................... 555
21.1.2.1 Rigid Articulated Hands .................................................... 555
21.1.2.2 Deformable Hands ............................................................. 556
21.2 Full-Hand Deformation ...