Interactive VR simulations consist of visual and haptic feedback. The haptic signals are displayed to a human operator through a haptic device at a rate of 1kHz. The research of the DLR institute of robotics and mechatronics on this project comprises design and control of light-weight robots for haptic interaction, as well as volume based haptic rendering. Typical applications are assembly simulations, training of mechanics, and skill transfer.
You can visit the project website here.