Jean Paul Gourret Nadia Magnenat-Thalmann Daniel Thalmann Simulation of object and human skin formations in a grasping task. 21-30 1989 conf/siggraph/1989 SIGGRAPH http://doi.acm.org/10.1145/74333.74335 db/conf/siggraph/siggraph1989.html#GourretMT89