This paper focuses on the problem of force-feedback for the human-operator hand when manipulating virtual objects. We propose a method for the computation of feedback-forces that have to be applied on each individual phalanx and jinger of the human hand in order to display pertinent, kinesthetic information about static or dynamic chamcteristics of objects present in the virtual scene. External forces and moments of the manipulated virtual objects have to be mapped on the contact-forces space of the virtual grasp. The method is based on the solution of a nonlinear programming problem, formu-lated by performing a static analysis of a general, multiple contact points virtual grasp. A methodology for modelling interactions within a virtual environment, and performing realistic grasping and manipu-lation, is also presented.

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