Extending the Friction Cone Algorithm for Arbitrary Polygon Based Haptic Objects. - N. Melder; William S. Harwin (HAPTICS, 2004)

Perceptual Cues for Orientation in a Two Finger Haptic Grasp Task. - S. McKnight; N. Melder; A. L. Barrow; William S. Harwin; J. P. Wann (WHC, 2005)

Force Shading and Bump Mapping Using the Friction Cone Algorithm. - N. Melder; William S. Harwin (WHC, 2005)