[youtube]https://www.youtube.com/watch?v=xHN8wCNVZQo[/youtube]
The most important part of this lecture occurs around 52:00 where there is a discussion of the virtual wall algorithm.
Stuff from the Web
Stanford’s Two Classes on Haptics
While browsing the web, we’ve found out the Stanford has two classes on haptics. ME 327: Design and Control of Haptic Systems CS 277: Experimental Haptics