**3.3 Integrated rendering**

The integrated rendering deals with the combination of kinesthetic and tactile rendering based on the overall interaction of the proxy with the virtual environment. Such integration is realized by the communication between the kinesthetic haptic rendering module and the tactile rendering module running at different rates. In such communication the tactile rendering should receive sufficient information for actuating the haptic interface. Although there is not a reference approach for tactile devices, such information can be identified as a distribution of contact points over the fingertip expressing for each of them the amount of pressure and the relative velocity against the contacting object. The surface properties of the material together with this piece of information can be then used for generating the vibrations that allow simulating the tactile feedback. An example of approach is discussed in Böttcher et al. (Böttcher, D Allerkamp, & F. E. Wolter, 2010).
