中文摘要：

触觉是人类5 种感觉通道之一, 在日常生活中发挥着不可缺少的作用. 在虚拟现实和增强现实系统中, 力触觉反馈的引入有望显著提高人机交互的沉浸感和交互性. 文中综述了虚拟现实环境中力触觉感受的建模和生成方法,从力触觉生成与视觉生成的差异性出发, 回顾了计算机触觉的发展历史和国内外研究现状, 重点分析了虚拟物体建模、碰撞检测、碰撞响应、变形计算等关键技术, 并提出了力触觉生成技术的未来发展趋势和技术挑战.

英文摘要：

The haptic channel is one of the five sensory channels of human. It plays an indispensable role in eve-ryday life. In the virtual reality and augmented reality systems, the haptic feedback is expected to significantly improve immersion and interactivity of human-computer interaction (HCI). This paper reviews the haptic model-ing and rendering technologies in virtual reality environments. From the perspective of the haptic and visual ren-dering differences, we summarize the history and current situation of research in the haptic field, and analyze the key technology of virtual object modeling, collision detection, collision response, force/torque computation and so on. Finally, we propose trends and future research challenges in haptic rendering.