Soheil Kianzad Karon E. MacLean Harold's purple crayon rendered in haptics: Large-stroke, handheld ballpoint force feedback. 106-111 2018 HAPTICS https://doi.org/10.1109/HAPTICS.2018.8357161 conf/haptics/2018 db/conf/haptics/haptics2018.html#KianzadM18