Mamy Pouliquen Christian Duriez Claude Andriot Alain Bernard Laurent Chodorge Florian Gosselin Real-Time Finite Element Finger Pinch Grasp Simulation. 323-328 2005 conf/haptics/2005 WHC http://doi.ieeecomputersociety.org/10.1109/WHC.2005.109 db/conf/haptics/whc2005.html#PouliquenDABCG05