中文摘要：

介绍了力／触觉反馈设备和力觉、触觉生成与反馈算法的国内外研究现状，根据对虚拟环境中力觉、触觉反馈的要求以及当前的研究现状，提出了力／触觉反馈设备和力觉、触觉生成与反馈算法的发展趋势。

英文摘要：

Research progress at home and abroad on hiptic feedback equipment and force/tactile generating algorithm was introduced. Trend of haptic devices and haptic algorithm was put forward based on demands in virtual environment and development on haptic feedback.