Haptic interfaces that present force and tactile feeling have been utilized in the areas of telemanipulation (Ivanisevi & Lumelsky, 2000; Elhajj et al., 2001), interaction with micro/nano scale phenomena (Ando et al., 2001; Marliere et al., 2004), medical training and evaluation (Langrana et al., 1994; Basdogan et al., 2001), and so on. Haptic interfaces are key devices in constructing virtual ...