Matthias Harders, Peter Leskovský, Theresa Cooke, Marc O. Ernst, Gábor Székely. Design and Evaluation of Haptic Soft Tissue Interaction. In Antonio Bicchi, Martin Buss, Marc O. Ernst, Angelika Peer, editors, The Sense of Touch and its Rendering - Progress in Haptics Research. Volume 45 of pages 225-244, 2008. [doi]
Abstract is missing.