Takahiro Miyashita Taichi Tajika Hiroshi Ishiguro Kiyoshi Kogure Norihiro Hagita Haptic Communication Between Humans and Robots. 525-536 2005 ISRR http://dx.doi.org/10.1007/978-3-540-48113-3_45 conf/isrr/2005 db/conf/isrr/isrr2005.html#MiyashitaTIKH05