Ah, cool. This looks like a related paper: https://static.aminer.org/pdf/PDF/000/647/434/a_framework_for_fast_and_accurate_collision_detection_for_haptic.pdf h

Ah, cool. This looks like a related paper: https://static.aminer.org/pdf/PDF/000/647/434/a_framework_for_fast_and_accurate_collision_detection_for_haptic.pdf https://static.aminer.org/pdf/PDF/000/647/434/a_framework_fo... The conclusion reminded me of an interesting point they mentioned during the demo: the haptic feedback ran at 1,000 FPS! We have much finer-grained expectations around time for touch than we do sight.