Method and Arrangement for Handling Haptic Feedback

A method to facilitate haptic rendering of a virtual object on an assisting real object, the method comprising:

• obtaining a virtual object model comprising first haptic device characteristics defining haptic actuations by a haptic device for haptic rendering of a surface contour or texture of the virtual object;
• obtaining a real object model comprising second haptic device characteristics defining haptic actuations by the haptic device for haptic rendering of a surface contour or texture of the assisting real object;
• forming modified haptic device characteristics by modifying the first haptic device characteristics in dependence on the second haptic device characteristics, the modified haptic device characteristics defining haptic actuations by the haptic device for haptic rendering of the surface contour or texture of the virtual object on the surface contour or texture of the assisting real object;
• and
• outputting the modified haptic device characteristics as a modified virtual object model, for controlling operation of the haptic device.