Kaluschke, MaximilianMaximilianKaluschkeWeller, ReneReneWellerZachmann, GabrielGabrielZachmannPelliccia, LuigiLuigiPellicciaLorenz, MarioMarioLorenzKlimant, PhilippPhilippKlimantAtze, Johannes P.G.Johannes P.G.AtzeMöckel, FalkFalkMöckelKnopp, SebastianSebastianKnopp2022-03-132022-03-132018https://publica.fraunhofer.de/handle/publica/40015110.1109/VR.2018.8446370We present the first VR training simulator for hip replacement surgeries. We solved the main challenges of this task - high and stable forces during the milling process while simultaneously a very sensitive feedback is required - by using an industrial robot for the force output and the development of a novel massively parallel haptic rendering algorithm with support for material removal.enconference paper