... forces and mo- ments of interaction between the object and virtual environment. The most natural way of demonstrating the task is certainly to let the operator per- form the task by his/her hands ... a handled object, e.g. INSERT <object> INTO <place>. <object> is the object, known from the predecessor Object-Operation, <place> the current fixture, to which the ... problem, two approaches are considered. One is that the designer investigates the forward problem and attempt to utilize obtained principle to construct the system [8]. Another is to let the system...