Mahyar Fotoohi Shahin Sirouspour David W. Capson A Multi-rate Control Approach to Haptic Interaction in Multi-user Virtual Environments. 99-104 2007 conf/icra/2007 ICRA https://doi.org/10.1109/ROBOT.2007.363771 db/conf/icra/icra2007.html#FotoohiSC07