We propose a three Degrees-of-freedom(3-DOF) haptic rendering method based on deformable model named Oriented Particle. Oriented particle model is a model based on shape-matching deformation method which based on geometry. We choose this model because it decreases the computation cost for deformation. Our consideration is a 2-level collision sequence by taking advantage of particles. By this sequence, we are able to present faster collision detection and direct sensation of the model surface. The structure of this sequence is created by binding the surface meshes which located inside or adjacent to the corresponding particle. We also fixed the passive-falling problem of the proxy by revised the proxy method during the dynamical simulation.
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