Haptic interaction with multiresolution image curves

We describe a system for interacting with shapes in two dimensional images with force feedback, using haptic devices. We construct multiresolution models of boundary curves in images, using wavelet multiresolution with good approximation properties. The boundary curves are treated as solid objects that will produce a force when pushed with a mouse-like haptic interface. This interaction force is then be rendered through a 2D haptic interface, providing kinesthetic feedback to the user.