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Haptic interfaces offer an intuitive way to interact with and manipulate 3D data, and may simplify the interpretation of visual information. This work proposes an algorithm to provide haptic feedback directly from volumetric data sets, as an aid to regular visualization. The haptic rendering algorithm lets the user perceive isosurfaces in the volumetric data, and it relies on several design features that ensure a robust and efficient rendering. Robustness is derived from existing proxy-baseddoi:10.1109/haptic.2012.6183781 dblp:conf/haptics/CorenthyMOG12 fatcat:crn4vc3dzbhpxmbv3qjkdw5qz4