Dennis Allerkamp Guido Böttcher Franz-Erich Wolter Alan C. Brady Jianguo Qu Ian R. Summers A vibrotactile approach to tactile rendering. 97-108 2007 23 The Visual Computer 2 http://dx.doi.org/10.1007/s00371-006-0031-5 db/journals/vc/vc23.html#AllerkampBWBQS07