Laron Walker, Hong Z. Tan. A Perceptual Study of Haptic Rendering of Surface Topography when Both Surface Height and Stiffness Vary. In 12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS 2004), 27-28 March 2004, Chicago, IL, USA, Proceedings. pages 137-145, IEEE Computer Society, 2004. [doi]
Abstract is missing.