Comparison of 3-D haptic peg-in-hole tasks in real and virtual environments. - Bertram J. Unger; A. Nicolaidis; Peter J. Berkelman; A. Thompson; Roberta L. Klatzky; Ralph L. Hollis (IROS, 2001)

Virtual Peg-in-Hole Performance Using a 6-DOF Magnetic Levitation Haptic Device: Comparison with Real Forces and with Visual Guidance Alone. - Bertram J. Unger; A. Nicolaidis; Peter J. Berkelman; A. Thompson; Susan J. Lederman; Roberta L. Klatzky; Ralph L. Hollis (Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2002)