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In this paper, we propose a real-time adaptive prediction method to calculate smooth and accurate haptic feedback in complex scenarios. Smooth haptic feedback is an important task for haptic rendering with complex virtual objects. However, commonly the update rate of the haptic rendering may drop down during multi-point contact in complex scenarios because high computational cost is required for collision detection and physically-based dynamic simulation. If the haptic rendering is done at aarXiv:1603.06674v1 fatcat:vk5jvacjlvbhtkqtatzw45cltu