Masataka Sakai Yukio Fukui Norio Nakamura Effective Output Patterns for Torque Display. 2003 conf/icat/2003 ICAT http://www.vrsj.org/ic-at/ICAT2003/php/upload/116_camera_b039e8e145a858b48ca6d93123d21f38.pdf db/conf/icat/icat2003.html#SakaiFN03