Comparison of Human Haptic Size Discrimination Performance in Simulated Environments with Varying Levels of Force and Stiffness. - Gina Upperman; Atsushi Suzuki; Marcia Kilchenman O'Malley (HAPTICS, 2004)

A Study of Perceptual Performance in Haptic Virtual Environments. - Marcia K. O'Malley; Gina Upperman (J. Robotics Mechatronics, 2006)