Y. Adachi, T. Kumano, and K. Ogino, Intermediate representation for stiff virtual objects, Proceedings Virtual Reality Annual International Symposium '95, p.203, 1995.
DOI : 10.1109/VRAIS.1995.512497

R. J. Adams and B. Hannaford, Control law design for haptic interfaces to virtual reality, Member Ieee, and Member Ieee, pp.3-13, 2002.
DOI : 10.1109/87.974333

R. J. Adams, M. R. Moreyra, and B. Hannaford, Stability and performance of haptic displays: Theory and experiments, Proceedings ASME International Mechanical Engineering Congress and Exhibition, pp.227-234, 1998.

J. Barbi? and D. L. James, Six-DoF haptic rendering of contact between geometrically complex reduced deformable models: Haptic demo, World Haptics 2009, Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp.39-52, 2008.
DOI : 10.1109/WHC.2009.4810910

C. Basdogan and A. A. Srinivasan, Haptic rendering in virtual environments, Handbook of Virtual Environments, 2002.

M. Bro-nielsen and S. Cotin, Real-time Volumetric Deformable Models for Surgery Simulation using Finite Elements and Condensation, Computer Graphics Forum, vol.15, issue.3, pp.57-66, 1996.
DOI : 10.1111/1467-8659.1530057

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.49.2967

J. E. Colgate, M. C. Stanley, and J. M. Brown, Issues in the haptic display of tool use. Intelligent Robots and Systems, IEEE/RSJ International Conference on, p.3140, 1995.

S. Cotin, H. Delingette, and N. Ayache, Real-time elastic deformations of soft tissues for surgery simulation, IEEE Transactions on Visualization and Computer Graphics, vol.5, issue.1, pp.62-73, 1999.
DOI : 10.1109/2945.764872

URL : https://hal.archives-ouvertes.fr/inria-00073173

H. Courtecuisse, J. Allard, P. Kerfriden, P. Stéphane, and . Bordas, Real-time simulation of contact and cutting of heterogeneous soft-tissues, Medical Image Analysis, vol.18, issue.2, pp.394-410, 2014.
DOI : 10.1016/j.media.2013.11.001

URL : https://hal.archives-ouvertes.fr/hal-01097108

C. Duriez, C. Andriot, and A. Kheddar, Interactive haptic for virtual prototyping of deformable objects: Snap-in tasks case, EUROHAPTICS. Citeseer, 2003.

C. Duriez, F. Dubois, C. Kheddar, and . Haugen, Realistic haptic rendering of interacting deformable objects in virtual environments, IEEE Transactions on Visualization and Computer Graphics, vol.12, issue.1, pp.36-47, 2005.
DOI : 10.1109/TVCG.2006.13

URL : https://hal.archives-ouvertes.fr/hal-00269404

C. Forest, H. Delingette, and N. Ayache, Surface Contact and Reaction Force Models for Laparoscopic Simulation, International Symposium on Medical Simulation, 2004.
DOI : 10.1007/978-3-540-25968-8_19

URL : https://hal.archives-ouvertes.fr/inria-00615971

C. Garre and M. A. Otaduy, Haptic rendering of complex deformations through handle-space force linearization, World Haptics 2009, Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp.422-427, 2009.
DOI : 10.1109/WHC.2009.4810813

P. Jacobs, M. J. Fu, and M. C. , High Fidelity Haptic Rendering of Stick-Slip Frictional Contact With Deformable Objects in Virtual Environments Using Multi-Rate Simulation, Proceedings 2007 IEEE International Conference on Robotics and Automation, pp.1778-1792, 2010.
DOI : 10.1109/ROBOT.2007.363774

L. Doug, D. K. James, and . Pai, A unified treatment of elastostatic contact simulation for real time haptics, SIGGRAPH '05: ACM SIGGRAPH 2005 Courses, p.141, 2005.

M. Mahvash and V. Hayward, Haptic rendering - beyond visual computing - High-fidelity haptic synthesis of contact with deformable bodies, IEEE Computer Graphics and Applications, vol.24, issue.2, pp.48-55, 2004.
DOI : 10.1109/MCG.2004.1274061

S. Marchesseau, T. Heimann, S. Chatelin, R. Willinger, and H. Delingette, Multiplicative Jacobian Energy Decomposition Method for Fast Porous Visco-Hyperelastic Soft Tissue Model, Lecture Notes in Computer Science, pp.6361-235, 2010.
DOI : 10.1007/978-3-642-15705-9_29

URL : https://hal.archives-ouvertes.fr/hal-00593207

W. R. Mark, S. C. Randolph, M. Finch, J. M. Van-verth, R. M. Taylor et al., Adding force feedback to graphics systems, Proceedings of the 23rd annual conference on Computer graphics and interactive techniques , SIGGRAPH '96, pp.447-452, 1996.
DOI : 10.1145/237170.237284

K. Miller, . Joldes, A. Lance, and . Wittek, Total Lagrangian explicit dynamics finite element algorithm for computing soft tissue deformation, Communications in Numerical Methods in Engineering, vol.33, issue.4, pp.121-134, 2007.
DOI : 10.1002/cnm.887

M. Müller, B. Heidelberger, M. Teschner, and M. Gross, Meshless deformations based on shape matching, ACM Transactions on Graphics, vol.24, issue.3, p.471, 2005.
DOI : 10.1145/1073204.1073216

M. Ortega, S. Redon, and S. Coquillart, A Six Degree-of-Freedom God-Object Method for Haptic Display of Rigid Bodies with Surface Properties, IEEE Transactions on Visualization and Computer Graphics, vol.13, issue.3, pp.458-469, 2007.
DOI : 10.1109/TVCG.2007.1028

URL : https://hal.archives-ouvertes.fr/inria-00390318

I. Peterlik, M. Sedef, C. Basdogan, and L. Matyska, Real-time visio-haptic interaction with static soft tissue models having geometric and material nonlinearity, Computers & Graphics, vol.34, issue.1, pp.43-54, 2010.
DOI : 10.1016/j.cag.2009.10.005

G. Picinbono and J. Lombardo, Extrapolation: a solution for force feedback?, International Scientific Workshop on Virtual Reality and Prototyping, pp.117-125, 1999.
URL : https://hal.archives-ouvertes.fr/inria-00615824

D. C. Popescu and M. Compton, A model for efficient and accurate interaction with elastic objects in haptic virtual environments, Proceedings of the 1st international conference on Computer graphics and interactive techniques in Austalasia and South East Asia , GRAPHITE '03, pp.245-250, 2003.
DOI : 10.1145/604471.604518

D. C. Ruspini, K. Kolarov, and O. Khatib, The haptic display of complex graphical environments, Proceedings of the 24th annual conference on Computer graphics and interactive techniques , SIGGRAPH '97, pp.345-352, 1997.
DOI : 10.1145/258734.258878

G. Saupin, C. Duriez, and S. Cotin, Contact Model for Haptic Medical Simulations, ISBMS '08: Proceedings of the 4th international symposium on Biomedical Simulation, pp.157-165, 2008.
DOI : 10.1007/978-3-540-70521-5_17

URL : https://hal.archives-ouvertes.fr/hal-00841570

M. Sedef, E. Samur, and C. Basdogan, Real-Time Finite-Element Simulation of Linear Viscoelastic Tissue Behavior Based on Experimental Data, IEEE Computer Graphics and Applications, vol.26, issue.6, pp.58-68, 2006.
DOI : 10.1109/MCG.2006.135

Y. Zhuang and J. Canny, Real-time simulation of physically realistic global deformation Hot-topic, IEEE Visualization Conference, 1999.

C. B. Zilles and J. K. Salisbury, A constraint-based god-object method for haptic display, Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots, p.3146, 1995.
DOI : 10.1109/IROS.1995.525876