Vincent Hayward, Dingrong Yi. Change of Height: An Approach to the Haptic Display of Shape and Texture Without Surface Normal. In Bruno Siciliano, Paolo Dario, editors, Experimental Robotics VIII [ISER 2002, Sant Angelo d Ischia, Italy, 8-11 July 2002]. Volume 5 of Springer Tracts in Advanced Robotics, pages 570-579, Springer, 2002. [doi]
Abstract is missing.