The following publications are possibly variants of this publication:
- Virtual Roughness Perception Using Coil Array Magnetic Levitation Haptic Interface: Effects of Torque FeedbackSahba Aghajani Pedram, Roberta L. Klatzky, Oran Isaac-Lowry, Peter J. Berkelman. haptics 2014: 513-520 [doi]
- Virtual Peg-in-Hole Performance Using a 6-DOF Magnetic Levitation Haptic Device: Comparison with Real Forces and with Visual Guidance AloneB. J. Unger, A. Nicolaidis, Peter J. Berkelman, A. Thompson, Susan J. Lederman, Roberta L. Klatzky, Ralph L. Hollis. haptics 2002: 263-270 [doi]
- Interaction with a Realtime Dynamic Environment Simulation Using a Magnetic Levitation Haptic Interface DevicePeter J. Berkelman, Ralph L. Hollis, David Baraff. icra 1999: 3261-3266