This monograph originates from my work on the HAPTEX project. In - cember 2004 Prof. Franz-Erich Wolter, the head of the Institute of Man Machine Communication of the Leibniz Universit] at Hannover, o?ered me the opportunity to participate in that EU funded project. Being a mat- matician I had only very little experience in the ?eld of haptic simulation in those days, but Prof. Wolter trusted in my ability to become acquainted with new ?elds of research in a very short time. I am still thankful for the con?dence he has shown me. Since then I indeed learned and found out a lot. With this...

This monograph originates from my work on the HAPTEX project. In - cember 2004 Prof. Franz-Erich Wolter, the head of the Institute of Man Machine Communication of the Leibniz Universit] at Hannover, o?ered me the opportunity to participate in that EU funded project. Being a mat- matician I had only very little experience in the ?eld of haptic simulation in those days, but Prof. Wolter trusted in my ability to become acquainted with new ?elds of research in a very short time. I am still thankful for the con?dence he has shown me. Since then I indeed learned and found out a lot. With this...