Haptic sculpting allows a designer to create virtual models with the aid of haptic feedback. Just as in real life sculpting, different tools are used to work the model into a desired shape. Several haptic sculpting tools appear in the literature. For example, [Gao 2006] proposes an ellipsoidal tool whose pose (position and orientation) is controlled by a six degrees-of-freedom (DOF) haptic device, and [McDonnell 2001] describes a set of modeling tools for virtual clay controlled by three DOF haptics.