Christopher R. Wagner Susan J. Lederman Robert D. Howe 354-356 2002 conf/haptics/2002 Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems https://doi.org/10.1109/HAPTIC.2002.998981 https://doi.ieeecomputersociety.org/10.1109/HAPTIC.2002.998981 db/conf/haptics/haptics2002.html#WagnerLH02