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There have been several approaches proposed so far to addressthe issue of coupling the heavy computations with high refreshrate of the haptic loop. Basically, two main classes ofsolutions can be identified: either simplified models based onlinearization or reduction are used, or some precomputation isemployed before the real-time interaction takes place. In thefirst part of this chapter, an overview of the methods proposedin last decade is presented. Some of them are described in moredetail to emphasize the key concepts which are used frequentlyin haptic soft-tissue modeling nowadays. In the second part ofthe chapter, an approach based on precomputation andinterpolation of precomputed data is presented. The techniqueconsists of two procedures: first, it is a construction of adiscrete set of data, which can be performed in reasonable timeon today's computers. Second, it is a fast approximation of anarbitrary deformation which is needed during the real-timeinteraction using only the data from the discrete setconstructed by the first procedure.

Haptic Interaction with Complex Models Based on Precomputations