Abstract
This paper presents an application enabling the interaction on a real object with a virtual tool. In order to interact within the real world, a real haptic probe is used to interact with the real object so that the user feel the interaction. Furthermore, through the use of a visual diminished reality process and a camera placed on the real scene, the real tool is visually replaced by the virtual one. Since, the real and virtual probes do not match necessarily, a model of the virtual tool is used to modify the haptic feedback, while visually, the virtual tool is modified relatively to the real forces measured. Eventually, proposing a mixed painting application, the painting, applied on the real object, i.e. when the user comes in contact with this latter, is visually displayed such that its form is computed from the virtual tool geometry while its size and intensity from the the real measured forces.