Kouta Minamizawa Sho Kamuro Naoki Kawakami Susumu Tachi A Palm-Worn Haptic Display for Bimanual Operations in Virtual Environments. 458-463 2008 EuroHaptics http://dx.doi.org/10.1007/978-3-540-69057-3_59 conf/haptics/2008e db/conf/haptics/eurohaptics2008.html#MinamizawaKKT08