**4. Case study: Haptic display of textile properties**

In this section we discuss an integrated system for kinesthetic and tactile simulation applied to the interaction with virtual textiles. In the first part we introduce the scope of the system and its main characteristics. Then we proceed with the presentation of the integrated haptic interfaces. The section is closed by a discussion about the haptic rendering strategy that supports the discussed haptic interface, taking into account the models and the approaches presented in the previous sections.
