A introduction to virtual worlds with haptic sensation : its history, techniques, and recent advances, with a particular emphasis on string-based haptic interface SPIDAR. The first half of the course is a basic introduction to haptic devices and immersive virtual environment with haptic sensation. The second half covers several advanced techniques, including haptic rendering techniques, physically-based dynamic simulation for haptic interaction, and reactive virtual human . The real-time demonstrations using SPIDAR-system are programmed.