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This paper presents a methodological proposal, which is focused on the task of rendering and manipulation of virtual objects via kinesthetic. Our project involves two key areas: Virtual Reality and Haptic Rendering. Virtual Reality is related to the creation of virtual environments, considering physical and virtual aspects, levels of immersion and interaction with the user. Haptic rendering is used to provide kinesthetic stimuli in order to improve the man- machine interaction. We identify three main processes as a part of the methodology: i) selection of algorithms and methods for haptic rendering according to the project developed, ii) selection of languages and specialized software tools for virtual applications and iii) selection of haptic devices, all these considerations are key for developing a project using haptic rendering.

HAREVIR: A Methodology for Developing Virtual Reality Projects with Haptic Rendering