The well known property of haptic interaction is the high refresh rate of the haptic loop that is necessary for the stability
of the interaction. Therefore, only simple computations can be done within the loop. On the other hand, physically-based deformation
modeling requires heavy computations. Moreover, if realistic behavior is desired, the models are non-linear and iterative
solution is necessary.
In this paper, the technique for haptic interaction with non-linear complex model is presented. Our approach, based on approximations
of configuration space, is described and the accuracy of the approximation is experimentally determined.
Keywords haptic interaction - non-linear soft tissue modeling - interpolation