Haptic, comes from a Greek word “Haphe), means pertaining to the sense of touch. This technology allows users to feel the touch via applied forces, vibrations and motions. We have implemented it with Gizem Kayar as our team project. We have used the Phantom Omni Haptic Device produced by SensAble Technologies that is provided by the Freiburg University Computer Graphics Department. You need to have a Sensable haptic device to feel the response sent from the program. Otherwise, it will work in mouse emulation mode where the z movement is emulated using the mouse wheel. Other controls and implementation related details are written in the documentation. You may download the binaries and the documentation from here and here.
 M. Teschner, B. Heidelberger, M. Mueller, D. Pomeranets, M. Gross, “Optimized Spatial Hashing for Collision Detection of Deformable Objects,” Proc. Vision, Modeling, Visualization VMV’03, Munich, Germany, pp. 47-54, Nov. 19-21, 2003
 B. Heidelberger, M. Teschner, R. Keiser, M. Mueller, M. Gross, “Consistent Penetration Depth Estimation for Deformable Collision Response,” Proc. Vision, Modeling, Visualization VMV’04, Stanford, USA, pp. 339-346, Nov. 16-18, 2004.