Mahdi Tavakoli Arash Aziminejad Rajnikant V. Patel Mehrdad Moallem High-Fidelity Bilateral Teleoperation Systems and the Effect of Multimodal Haptics. 1512-1528 2007 37 IEEE Transactions on Systems, Man, and Cybernetics, Part B 6 http://doi.ieeecomputersociety.org/10.1109/TSMCB.2007.903700 db/journals/tsmc/tsmcb37.html#TavakoliAPM07