K. Wen Dan S. Necsulescu Jurek Sasiadek Haptic force control based on impedance/admittance control aided by visual feedback. 39-52 2008 37 Multimedia Tools Appl. 1 http://dx.doi.org/10.1007/s11042-007-0172-1 db/journals/mta/mta37.html#WenNS08