Dynamical Issues attheLowLevelofHuman/Virtual Object Interaction

consider thevirtual environment asaparticular caseofremote Someapplication areas suchasmusical synthesis, animation or one. moregenerally, instrumental arts, havespecific requirements for However, haptic isinvolved ina less-known domain, the the"haptic rendering" ofsmall movements thatgobeyond the multisensory simulation forinstrumental arts, especially music thresholds that usual simulators andhaptic interfaces allow. The andmovingimagesynthesis. Historically, thisspecific artistic quality ofasimulator isspecifically brought bythedynamical field comesfromsoundsynthesis discipline andacoustics [7], [8], properties ofitscomponents: haptic interface, simulator and [9], thushasnotcompletely appeared inthecontext ofthemost control system. Forsuchtypeofapplications, variations ofobjects knownVirtual Reality orteleoperation inrobotic applications. intrinsic properties andmutual combinations arerelevant aspects Asidetheprevious domains, whicharewidely shape andspace whichbring about global properties ofanentire object domainas rendering oriented, themultisensory application domainhas wellasrestitute specific object properties. As a general aim, primarily focused itsresearches andtechnical efforts on the rather thanto minimizethetechnical effects to reach dynamic quality [10], [11], [12], [13]. transparency, we intent to characterize themby physical Althoughmany technical solutions concerning haptic metaphors conferring tohaptic mediumtheroleofatool. This interfacing couldbeshared between these different domains, the standpoint leadstofirstly analyze thenatural human-objectneedsarenotcompletely thesame and some specific interaction asasimplified evolving system andthenconsiders its methodologies haveappeared inthedomainofmultisensory synthesis inthecaseoftheinteractive physical simulation. By simulation forarts, that point different approaches concerning the meansofafrequential method, thisapproach ispresented for dynamic issues. someelementary configurations ofthesimulator. Thetopic developed hererelates tooneofthese issues, and involves thelowest level ofthehuman-object interaction. The