Marco Altomonte Davide Zerbato Debora Botturi Paolo Fiorini Simulation of deformable environment with haptic feedback on GPU. 3959-3964 2008 IROS http://dx.doi.org/10.1109/IROS.2008.4650837 conf/iros/2008 db/conf/iros/iros2008.html#AltomonteZBF08