Résumé
This paper introduces a new method for virtual reality teaching and its implementation into the I-TOUCH framework. From a thorough analysis of previous works dealing with virtual training, we developed a four steps method to be used for teaching and training. The I-TOUCH framework has been designed in order to quickly prototype computer haptic research and subsequently generate actual industry interactive simulations. Adding a progressively adapting guidance software module, the software can also be used to teach and train people on skill manipulation, where the use of haptic feedback increases learning. Thus, we decided to conceive a replay mode where four different haptic displays were possible: from total guidance, through more or less haptic correction of the user gesture, to a simple visual mode, where the ideal motion is visually displayed.