A Survey of Haptic Rendering Techniques.

Stephen D. Laycock A. M. Day A Survey of Haptic Rendering Techniques. 50-65 2007 26 Comput. Graph. Forum 1 http://dx.doi.org/10.1111/j.1467-8659.2007.00945.x db/journals/cgf/cgf26.html#LaycockD07