Iciar Font Siep Weiland Martijn Franken Maarten Steinbuch Loy Rovers Haptic feedback designs in teleoperation systems for minimal invasive surgery. 2513-2518 2004 conf/smc/2004 SMC (3) http://dx.doi.org/10.1109/ICSMC.2004.1400707 db/conf/smc/smc2004-3.html#FontWFSR04