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Immersion, interaction, and imagination are three features of virtual reality (VR). Existing VR systems possess fairly realistic visual and auditory feedbacks, and however, are poor with haptic feedback, by means of which human can perceive the physical world via abundant haptic properties. Haptic display is an interface aiming to enable bilateral signal communications between human and computer, and thus to greatly enhance the immersion and interaction of VR systems. This paper surveys thedoi:10.3724/sp.j.2096-5796.2019.0008 dblp:journals/vrih/WangGLZXX19 fatcat:wwg7v6iytfgt7n32zwfqp5n7oy