Mauricio Orozco Trujillo Yednek Asfaw Shervin Shirmohammadi Andy Adler Abdulmotaleb El-Saddik 38 2006 conf/haptics/2006 HAPTICS http://doi.ieeecomputersociety.org/10.1109/VR.2006.69 db/conf/haptics/haptics2006.html#TrujilloASAE06