Hiroaki Yano Masayuki Yoshie Hiroo Iwata Development of a Non-Grounded Haptic Interface Using the Gyro Effect. 32-39 2003 conf/haptics/2003 HAPTICS http://csdl.computer.org/comp/proceedings/haptics/2003/1890/00/18900032abs.htm db/conf/haptics/haptics2003.html#YanoYI03