College of Information Science & Eng.,Wenzhou Univ., Wenzhou 325027, China;
Dept. of Electronics & Information Eng., Huazhoug Univ. of Science & Technology, Wuhan 430074;
College of Information Science & Eng.,Zhejiang Univ. of Technology, Hangzhou 310014;
College of Information Science & Eng., Zhejiang Univ., Hangzhou 310027;
haptic; virtual reality modeling language(VRML); virtual environment(VE); interface;