High Fidelity Haptic Rendering of Stick-Slip Frictional Contact With Deformable Objects in Virtual Environments Using Multi-Rate Simulation. - Paul Jacobs; Murat Cenk Cavusoglu (ICRA, 2007)

High Fidelity Haptic Rendering of Frictional Contact with Deformable Objects in Virtual Environments using Multi-rate Simulation. - Paul Jacobs; Michael J. Fu; Murat Cenk Çavusoglu (Int. J. Robotics Res., 2010)