Eric L. Faulring Kevin M. Lynch J. Edward Colgate Michael A. Peshkin Haptic Display of Constrained Dynamic Systems via Admittance Displays. 101-111 2007 23 IEEE Transactions on Robotics 1 http://dx.doi.org/10.1109/TRO.2006.886837 db/journals/trob/trob23.html#FaulringLCP07