Human Perception -- Devices for Tactile Simulation -- Generation of Virtual Surfaces -- Tactile Rendering -- Summary and Outlook.

Virtual Reality (VR) has a lot of applications ranging from entertainment to mechanical design and medical training. VR systems are often used in training situations where training in a real environment would be inappropriate and possibly even dangerous. This work was part of the EU funded HAPTEX project, which aimed at developing a VR system for the visual and haptic presentation of textiles.