Table of Contents

Force Feedback: Bibliography
- A
- B
- C
- D
- E
- F
- G
- H
- I
- J
- K
- L
- M
- N
- O
- P
- Q
- R
- S
- T
- U
- V
- W
- X
- Y
- Z

Force Feedback: Bibliography

A

Adams, R.J., and B. Hannaford. 1999. “Stable haptic interaction with virtual environments,” IEEE Trans. Robot. Automat. 15: 465–474.

Adams, R.J., et al. 2000. “Stable haptic interaction using the Excalibur Force Display,” In Proceedings of IEEE Int. Conf. Robot. Au- tomat. San Francisco, CA, pp. 770–775.

Adams, R.J., and B. Hannaford, “Excalibur, a three-axis force display,” In ASME Winter Annu. Meeting Haptics Symp Nashville, TN.

Agronin, M. L. 1987. ‘‘The design of a nine-string six degree-of-freedom force-feedback joystick for telemanipulation.’’ In Proceedings of the NASA Workshop on Space Telerobotics. Pasadena, CA, pp. 341–348.

Akamatsu, M., and I.S. MacKenzie. 1996. “Movement Characteristics Using a Mouse with Tactile and Force Feedback.” International Journal of Human-Computer Studies 45:483-493.

Akamatsu, M., and S. Sigeru. 1994. “A multi-modal mouse with tactile and force feedback.” International Journal of Human-Computer Studies. 45:443-445.

Akamatsu, M., et al. 1994. “Multimodal mouse: A mouse-type device with tactile and force display.” In Presence. 3:73-80.

Allin, S., et al. 2002. “Measuring Just Noticeable Differences for  Haptic Force Feedback: Implications for Rehabilitaion”, In Proceedings of the 10th Symp. On Haptic Interfaces For Virtual Envir. & Teleoperator Systs. (Haptics ’02.

Anderson, T., et al. 1999. “FBG: A graphical and haptic user interface for creating graphical, haptic user interfaces.” In Proceedings of the Fourth PHANToM Users Group Workshop. Dedham, MA, USA.

Anderson, T., and N. Brown. 2001. “The activepolygon polygonal algorithm for haptic force generation.” In Proceedings of the Sixth PHANToM Users Group  Workshop. Aspen, CO, USA.

Anderson, C., 1992. “The Design of a Compact Actuator System for a Robotic Wrist / Hand.” MS Thesis, MIT Dept of Mechanical Engineering

Åström, K.J., and R. M. Murray. 2008. “Feedback Systems: An Introduction for Scientists and Engineers.” Princeton University Press.

B

Baheti, A.R., et al. 2010. “Fiber-optic intubation simulator with force feedback.” In Proceedings of the Haptics Symposium International Conference 2010, IEEE. pp. 379-385.

Balniuk, R., and I.F. Costa. 2000. “LEM – An Approach for Physically Based Soft Tissue Simulation Suitable for Haptic Interaction” In Proceedings of the Fifth Phantom Users Group Workshop.

Barbagli. F., et al. 2003. “Multi-Contact Haptic Interaction with Deformable Objects: a Multi-rate Approach.” chapter in Robotics Research XI - STAR (Springer Tracts on Advanced Robotics). Springer-Verlag.

Beamish, T., et al. 2004.‘‘Manipulating music: Multimodal interaction for djs,’’ In Proceedings of the ACM Conf. Human Factors in Computing Systems (CHI’04), CHI Lett. Vienna, Austria, 6(1):327–334.

Bejczy, A.K., and J.K. Salisbury. 1983. “Controlling Remote Manipulators Through Kinesthetic Coupling.” ASME Computers in Mechanical Engineering. 2(1): 48-60.

Berdahl, E., 2009. “Applications of Feedback Control to Musical Instrument Design.” PhD Thesis, Stanford University.

Bicchi. A., et al. 1990. “Contact Sensing from Force Measurements,” International Journal of Robotics Research. 12(3): 249-262.

Boeck, J.D., et al. 2001. “Expanding the Haptic Experience by Using the PHANToM Device to Drive a Camera Metaphor.” In Proceedings of the sixth PHANToM Users Group Workshop. Aspen, CO, USA.

Boeck, J.D., et al. 2002. “Assessing the increase in haptic load when using a dual PHANToM setup.” In Proceedings of the seventh {PHANToM} Users Group Workshop. Santa Fe, NM, USA.

Bongers, B. 1994. “The Use of Active Tactile and Force Feedback in Timbre Controlling Electronic Instruments.” In Proceedings of the 1994 International Computer Music Conference. San Francisco, International Computer Music Association, pp. 171-174.

Burdea, G., and T.H. Speeter. 1989. “Portable dexterous force feedback master for robot telemanipulation,.” In Proceedings of the NASA Conference on Space Telerobotics. Pasadena, CA, 11:153-161.

Burdea, G. 1996. “Force and Touch Feedback for Virtual Reality”. Wiley-Interscience. New York, NY.

Burdea, G., et al. 1992. “A portable dextrous master with force feedback,” In Presence. Cambridge, MA: MIT Press, 1:18–2.

Buttolo, P., and B. Hannaford. 1995. ‘‘Pen-based force display for precision manipulation in virtual environments.’’ In Proceedings of Virtual Reality Annu. Int. Symp. pp. 217–224.

Barbagli, F., Prattichizzo, D. and Salisbury K. 2002. “Multirate analysis of Haptic Interaction Stability with Deformable Objects,” in the Proceedings of the 41st IEEE Conference on Decision and Control, Las Vegas, Nevada, pp. 917-922.

Unordered List Item

Barbagli, F. and Salisbury, K. 2003. “The Effect of Sensor/Actuator Asymmetries in Haptic Interfaces”, Haptics Symposium, Los Angeles, California, pp. 140-147.

C

Chang, A. et al. 2005. “Audio-haptic feedback in mobile phones,” in CHI ’05 extended abstracts on human factors in computing systems, (Portland, OR, USA), pp. 1264–1267.

Chafe, C. 1993. “Tactile audio feedback” in Proceedings of the International Computer Music Conference, (Tokyo, Japan), pp. 76-79.

Chang, A. et al. 2002. “ComTouch: Design of a vibrotactile communication device,” in Proceedings of the Symposium on Designing Interactive Systems: Processes, Practices, Methods, and Techniques, (London, UK), pp. 312–320.

Choi, S. 2003. “Towards realistic haptic rendering of surface textures” PhD thesis, Purdue University.

Cadoz, C., et al. 1984. “Responsive input devices and sound synthesis by simulation of instrumental mechanisms: The CORDIS system.” Computer Music Journal. 8(3):60-73.

Cadoz, C., et al. 2003. “ACROE-ICA. Artistic Creation and Computer Interactive Multisensory Simulation Force Feedback Gesture Transducers.”, In Proceedings of the 2003 International Conference on New Interfaces for Musical Expression - NIME03. pp. 235-246.

Cadoz, C., et al. 1990. “Modular Feedback Keyboard.” In Proceedings of the International Computer Music Conference. pp. 379-382.

Calder B.E. 1983. “Design of a force feedback touch inducing actuator for teleoperator robot control.” B.S. Thesis, Departments of Mechanical and Electrical Engineering. Massachussetts Institute of Technology, Cambridge, MA.

Camarillo, D.B., et al. 2004. ‘‘Robotic technology in surgery: Past, present, and future,’’ Am. J. Surg. 88(4A):2S–15S.

Carlson, C., et al. 2011. “The Sound Flinger: A Haptic Spatializer.” In Proceedings of NIME11. Oslo, Norway.

Castagne, N. et al. 2004. “Dynamics as a common criterion to enhance the sense  Computer Music: a Paradigm Shift” In Proceedings of Eurohaptics. Munich, pp. 422-425.

Chu, L. 2003. “Haptic interactions for audio navigation.” PhD thesis, Department of Music, Stanford University.

Chu, L. 2002. “Haptic design for digital audio,” in Proceedings of the 2002 IEEE Conference on Multimedia and Expo, vol. 2, (Lausanne, Switzerland), pp. 441– 444.

Chu, L. 1996. “Haptic feedback in computer music performance.” In Proceedings of the International Computer Music Conference. pp. 57-58.

Colgate, J.E., et al. 1993. “Implementation of Stiff  Virtual Walls in Force-Reflecting Interfaces,” In Proceedings of the IEEE Virtual Reality Annual  Int. Symposium. Seattle, pp. 202-208.

Cotin, S., et al. 2000. “A hybrid elastic model allowing real-time cutting, deformations and force-feedback for surgery training and simulation.” The Visual Computer. 16(8):437–452.

D

Dang, T., et al. 2001. “Development and Evaluation of an Epidural Injection Simulator with Force Feedback for Medical Training” Medicine Meets Virtual Reality (in press).

E

Edwards, J., and G. Luecke. 1996, “Physically based models for use in a force feedback virtual  environment”, Japan/USA Symposium on Flexible Automation, ASME. pp. 221-228.

Engel, F. L., et al. 1994. “Improved efficiency through I- and E-feedback: A trackball with contextual force feedback.” International Journal of Human–Computer Studies. 41: 949–974.

F

Flasar, J. 2001. “Interaction Techniques for Object Se- lection/Manipulation in Non-Immersive Virtual Environments with Force Feedback.” In Preceedings of the Eurohaptics Conference. Birmingham, The United Kingdom, pp. 113-118.

Florens, J.-L., and C. Henry. 2001. “Bowed String Synthesis with Force Feedback Gesture Interaction.” In Proceedings of the 2001 International Computer Music Conference. San Francisco, International Computer Music Association.

Florens, J.L. et al. “ERGOS: Multi- degrees of Freedom and Versatile Force-Feedback Panoply.” In Proceedings of EuroHaptics’04. Munchen, Germany, pp. 356-360.

Florens,. J.L. 2002. “Real time Bowed String Synthesis with Force Feedback Gesture.” Invited paper, Forum Acousticum. Sevilla.

Floyd, J. 1999. “Haptic Interaction with Three-Dimensional Bitmapped Virtual Environments.” In Proceedings of the Second PHANToM Users Group  Workshop.MIT.

G

Gabriel, R., et al. 2008. “Actuated Sliders For Musical Performance and Composition.” In Proceedings of TEI’08. pp. 127-130.

Gillespie, R. B., and M. R. Cutkosky. 1996. “Stable User-Specific Haptic Rendering of the Virtual Wall.” In Proceedings of the ASME International Mechanical Engineering Conference and Exposition. 58:397–406.

Gomez, D. 1997. “A dextrous hand master with force feedback for virtual reality,” Ph.D. dissertation. Rutgers Univ., New Brunswick, NJ.

Grange, S., et al. 2001. “Overview of the Delta Haptic Device.” In Preceedings of the Eurohaptics Conference. Birmingham, United Kingdom, pp. 113-118.

Green, D. F., and J.K. Salisbury. 1997. “Texture Sensing and Simulation Using the PHANToM:  Towards Remote Sensing of Soil Properties.” In Proceedings of the Second PHANToM Users Group  Workshop., MIT

H

Hannaford, B., and Z. Szakaly. 1989. “Force feedback cursor control.” NASA Tech. Briefs. 13(11): 21.

Harris, N. 2010. “Bi-Directional Audio-Tactile Interface for Portable Electronic Devices”In Proceedings of the 128th AES Convention. London.

Hashtrudi-Zaad K., and S.E. Salcudean. 2002. “Transparency in time-delayed systems and the effect of local force feedback for transparent teleoperation.” In IEEE Transactions on Robotics and Automation. 18(1):108–14.

Hayward, V., and O.R. Astley. 1996. “Performance Measures for Haptic Interfaces.” In Robotics Research: The 7th International Symposium. Giralt, G., Hirzinger, G., (Eds.), Springer Verlag. pp. 195-207.

Hayward, V., and K.E. MacLean.2007. “Do it yourself haptics, Part-I.” IEEE Robot. Autom. Mag. 14(4):88–104.

Hayward, V., and K.E. MacLean.2008. “Do it yourself haptics, Part-II.” IEEE Robot. Autom. Mag. 15(1):104–119.

Hayward, V., et al. 1994. “Design and multi-objective optimization of a linkage for a haptic interface.” In Advances in Robot Kinematics, Kluver Academic, pp. 352–359.

Hayward, V., et al. 2004. “Haptic interfaces and devices.” Sensor Review. 24(1):16–29.

Hayward, V. et al. 1998. “Freedom-7: A high fidelity seven axis haptic device with application to surgical training. “ In Experimental Robotics V. Springer Verlag, pp. 445–456.

Howard, D. M., S. Rimell, and A. D. Hunt. 2003. “Force Feedback Gesture Controlled Physical Modeling Synthesis.”, In Proceedings of NIME03, pp. 95-98.

Howard, D.M., and S.M. Rimell. 2004. ‘‘Real-time gesture-controlled physical modelling music synthesis with tactile feedback,’’ EURASIP J. Appl. Signal Process. 7:1001–1006.

Howard, D.M., and S.M. Rimell, 2003. “Cymatic: A Tactile Controlled Physical Modelling Instrument.” In Proceedings of DAFX-03. London, UK.

Hutchins, M., and C. Gunn. 1999. “A Haptic Constraints Class Library.” In Proceedings of the Second PHANToM Users Group  Workshop., MIT.

Ho, C., et al. 2006. “Isotropy and Visual Modulation of Haptic Force Direction Discrimination on the Human Finger,” Proceedings of EuroHaptics pp. 483-486.

I

Iwata, H. 1992. “Artificial reality with force feedback: Development of desktop virtual space with compact master manipulator.” AGM Computer Graphics. 24: 165–170.

J

Jenaro, J., et al. 2007. “One-Dimensional Force Feedback Slider: Digital Platform.” In Proceedings of the Workshop at the IEEE Virtual Reality 2007 Conference: Mixed Reality User Interfaces: Specification, Authoring, Adaptation (MRUI07). pp. 47-51.

Jun, C., R.M. Taylor. 1996. “Nanomanipulator Force Feedback Research.” In Proceedings of the First PHANToM Users Group Workshop.

Johansson, A., and J. Linde. 1998. “Using Simple Force Feedback Mechanisms to Visualize Structures by Haptics.” In Proceedings of the Second Swedish Symposium on Multimodal Communication. Lund, Sweden.

Jorda, S. 2001. “New musical interfaces and new music-making paradigms. “In NIME01. Seattle, WA.

K

Kelley, A. J., and S. E. Salcudean. 1994. “On the development of a force-feedback mouse and its integration into a graphical user interface.” In Proceedings of ASME Dynamic Systems and Control Division. 55(1):287-288.

Kitagawa, M. et al. 2002. “Analysis of suture manipulation forces for teleoperation with force feedback.” In Proceedings of the Fifth International Conference on Medical Image Computing and Computer Assisted Intervention – MICCAI. Tokyo, 2488: 155–62.

Kretz, A., et al. 2005. “M. Force Feedback Slider: An interactive device for learning dynamic system behavior. “ In Proceedings of IEEE ICALT05. pp. 457- 458.

Kretz, A., et al. 2005. “Architecture of force feedback slider.” ETH E-Collection

L

Laycock, S., and A. Day. 2003. “Recent developments and applications of haptic devices,” Computer Graphics Forum. 22(2): 117– 132.

Lim, Y-A. S., et al. 2007. “A Wearable 3-DOF Wire-driven Force Feedback Device.” In Proceedings of the Haptics Symposium International Conference 2007,IEEE. pp.379-384.

Lippit, T. M. 2006. “Turntable music in the digital era: designing alternative tools for new turntable expression.” In Proceedings of NIME06. IRCAM, pp. 71-74.

Lécuyer, A., et al. 200. “Pseudo- haptic feedback: Can isometric input devices simulate force feedback?” In Proceedings of the IEEE Int. Conf. on Virtual Reality. pp. 83–90.

Levin, M.D., et al. 2000. “Control knob with multiple degrees of freedom and force feedback.” US Patent 6154201.

Luecke, G. R., et al. 1996. “An exoskeleton manipulator for application of electromagnetic virtual forces.” In Proceedings of ASME Dynamic Systems and Control Division. 58:489-494.

M

Mark, W., et al. 1996. “Adding Force Feedback to  Graphics Systems: Issues and Solutions.” In Proceedings of SIGGRAPH’96. pp. 447-452.

Massie, T.H., and J. K. Salisbury. 1994. ‘‘The PHANToM haptic interface: A device for probing virtual objects.’’ In Proceedings of the ASME IMECE Symp. Haptic Interfaces for Virtual Environments and Teleoperator Systems. 55(1): 295–299.

Massie, T. H. 1993. “Design of a Three Degree of Freedom Force-Reﬂecting Haptic Interface.” SB thesis, MIT EECS Department.

Massie, T. H. 1996. “Initial Haptic Explorations with the Phantom: Virtual Touch Through Point Interaction,” MS Thesis, MIT EECS Dept.

Massimino, M.J., and T.B. Sheridan. 1993. “Sensory substitution for force feedback in teleoperation.” Presence. 2(4):344–352.

Massimino, MJ. 1995. “Improved force perception through sensory substitution” Control Engineering Practice. 3(2):215–22.

Mason, M.T., and J.K. Salisbury. 1985. Robot Hands and the Mechanics of Manipulation.” M.I.T. Press, Cambridge, MA.

Mazzella, F., et al. 2002. ‘‘The forcegrid: A buffer structure for haptic interaction with virtual elastic objects.’’ In Proceedings of the IEEE Int. Conf. Robotics and Automation.1:939–946.

M'Boungui, G., et al. 2009. “Piezoelectric actuator for a force-feedback application: Preliminary evaluation.” In Proceedings of the Haptics Symposium International Conference 2009,IEEE. pp. 85-90.

McDougal, J. 1997. “Applicationsofadvanced materials to robotic design: The freedom-7 haptic hand controller.” In Proceedings of the Eleventh International Conference on Composite Materials (ICCM-11).

McNeely, W., et al. 1999. “Six degree-of-freedom haptic rendering using voxel sampling.” In Proceedings of ACM SIGGRAPH. pp.401-408.

Miller, T. 1998. “Implementation issues in adding force feedback to the X desktop.” In Proceedings of the Third PHANToM Users Group Workshop. Dedham, MA, USA.

Millman, P. A., et al. 1993. “Design of a high-performance haptic interface to virtual environments.” In Proceedings of IEEE Virtual Reality Annual International Symposium VRAIS'93. pp. 216-221.

Minsky, M. D. R. 1995. “Computational Haptics: The Sandpaper System of Synthesizing Texture for a Force Feedback Display.” Ph.D. thesis, Media Arts and Sciences. Massachusetts Institute of Technology, Cambridge.

Miranda, E. R., and M. M. Wanderley. 2006. “New Digital Musical Instruments: Control and Interaction Beyond the Keyboard.” Middleton, WI: AR Editions.

Misra, S., et al. 2007. “Force Feedback is Noticeably Different for Linear versus Nonlinear Elastic Tissue Models.” In Proceedings of the Haptics Symposium International Conference 2007,IEEE. pp.519-524.

Mulder, A. 1994 “Virtual Musical Instruments: Accessing the Sound Synthesis Universe as a Performer.” In Proceedings of the first Brazilian Symposium on Computer Music. pp.243-250.

Murayama, J. et al “Spidar G&G: A new two-handed haptic interface for bimanual VR interaction.” In Proceedings of the Eurohaptics Conference. Pp. 138–146.

Merchel, S. 2012. Touch the Sound: :Audio-Driven Tactile Feedback for Audio Mixing Applications“ JAES 60 (1/2):47-53.

Morrell, J. and Salisbury, K. 1995. “Parallel Coupled Actuators for High Performance Force Control: A Micro-Macro Concept,” Proc. of IROS-95, Pittsburgh, pp. 391-398.

Morris, D. et al. 2002. “Force-feedback in Craniofacial Surgery Simulation,” Proc. 2nd International Conference on Advanced Digital Technology in Head and Neck Reconstruction, Alberta, Canada.

N

Nichols, C. 2002. “The vBow: Development of a virtual violin Bow haptic human-computer interface,” In Proceedings of NIME02. Dublin, Ireland, pp. 168–169.

Nichols, C. 2003. “The vbow: A virtual violin bow controller for mapping gesture to synthesis with haptic feedback.” Organized Sound. 7(2).

Nichols, C. 2003. “The vbow: an expressive musical controller haptic human-computer interface.” PhD thesis, Stanford University.

O

Oboe, R., 2006. “A Multi-Instrument, Force-Feedback Keyboard.” Computer Music Journal. 30(3).

Okamura, A. M., et al. 1998. “Vibration feedback models for virtual environments,” in Proceedings of the IEEE International Conference on Robotics & Automation, (Leuven, Belgium), pp. 674–679, May 1998.

Okamura, A. M., et al. 2002. ‘‘Feeling is believing: Using a force-feedback joystick to teach dynamic systems.” J. Eng. Educ. 91(3): 345–349.

O’Malley, M.K., 2002. “Comparison of Human Haptic Size Discrimination Performance in Real and Simulated Environments.”In Proceedings of the seventh {PHANToM} Users Group Workshop. Santa Fe, NM, USA.

O'Modhrain, S., and C. Chafe. 2000. “Incorporating Haptic Feedback into Interfaces for Music Applications”, In Proceedings of the International Symposium on Robotics with Applications, World Automation Conference. Maui.

O'Modhrain, M. S. 1998. “Playing by feel: Incorporating haptic feedback into computer-based musical instruments.” PhD thesis, Stanford University.

Ortega, M., and S. Coquillart. 2005. “Prop-Based Haptic Interaction with Co-location and Immersion: an Automotive Application” In Proceedings of IEEE International Workshop on Haptic Audio Visual Environments and their Applications. Ottawa, Ontario, Canada.

O’Sullivan, C. 2005. “Dimensional design; explorations of the auditory and haptic correlate for the mobile device,” in Proceedings of the 11th meet- ing of the International Conference on Auditory Display, (Limerick, Ireland), pp. 212–217.

P

Pauws, S., et al. 2000. Programming and enjoying music with your eyes closed. In Proceedings of ACM CHI 2000 The Hague, Netherlands, ACM Press, Addison-Wesley, pp. 376-383.

Picaneli, L. et al. 2010. “Evaluation of a Haptic/Audio System for 3-D Targeting Tasks” In Proceedings of AES Convention:128

Q

R

Raymaekers, C., and k. Coninx 2001. “Menu Interactions in a Desktop Haptic Environment” In Preceedings of the Eurohaptics Conference. Birmingham, United Kingdom.

Raymaekers, C., et al. 2001. “Assessing head-tracking in a desktop haptic environment.” HCI International., New Orleans, LA, USA.

Richard, C. 2000. “On the identification and haptic display of friction.” PhD thesis, Stanford University.

Rodet, X., et al. 2005. “Study of haptic and visual interaction for sound and music control in the phase project.” In proceedings of NIME05 .Vancouver.

Rosenberg, L. 1995. “How to assess the quality of force-feedback systems.” In Journal of Medicine and Virtual Reality. 1(1):12–15.

Rovan, B., and V. Hayward. 2000. “Typology of tactile sounds and their synthesis in gesture driven computer music performance.” In Trends in Gestural Control of Music. Wanderley, M. and Battier, M., (eds). Editions IRCAM, Paris, pp. 297-320.

Ryu, J-H., and J. An. 2010. “A preliminary experimental study on haptic teleoperation of mobile robot with variable force feedback gain.” In Proceedings of the Haptics Symposium International Conference 2010, IEEE. pp. 251-256.

S

Salisbury, K., and M. Srinivasan. (Eds). 1996, “Proceedings of the First PHANTOM User’s Group Workshop,” MIT, MA.

Salisbury, K., and M. Srinivasan. (Eds). 1997, “Proceedings of the Second PHANTOM User’s Group Workshop,” MIT, MA.

Salisbury, K., and M. Srinivasan. (Eds). 1998, “Proceedings of the Third PHANTOM User’s Group Workshop,” MIT, MA.

Salisbury, K., and M. Srinivasan. (Eds). 1999, “Proceedings of the Fourth PHANTOM User’s Group Workshop,” MIT, MA.

Salisbury, J.K. and J.J. Craig.1982. “Articulated Hands: Force Control and Kinematic Issues.” International Journal of Robotics Research., MIT Press, Cambridge, MA, 1(1): 4-17.

Salisbury, K. et al. 1995. “Haptic Rendering: Programming Touch Interaction with Virtual Objects,” Proceedings of the ACM Symposium on Interactive 3D Graphics, Monterey, CA, pp. 123-130.

Salisbury, J.K., and B. Roth. “Kinematic and Force Analysis of Articulated Mechanical Hands.” ASME Journal of Mechanisms, Transmission and Automation in Design 105:35-41.

Salisbury, J.K., 1988. “Issues in Human/Computer Control of Dextrous Remote Hands.” Transactions on Aerospace and Electronic Systems. 24(5): 591-596.

Salisbury, J.K. and M.A. Srinivasan. 1997. “Phantom-Based Haptic Interaction with Virtual Objects.” IEEE Computer Graphics and Applications. 17(5): 6-10.

Sallnas, E. L., Rassmus-Grohn, K. & Sjostrom, C. 2001. “Supporting presence in collaborative environments by haptic force feedback.” ACM Transactions on Computer-Human Interaction,. 7 (4):461-476.

Semere, W., et al. 2004. “Teleoperation with sensor/actuator asymmetry: task performance with partial force feedback.” In Proceedings of the 12th Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems. Chicago, IL, pp.121–127.

Serafin, S. 2004 “The sound of friction: real-time models, playability and musical applications.” PhD Thesis  Stanford University.

Shimoga, K.B. 1992. “Finger Force and Touch Feedback Issues in Dexterous Telemanipulation.” In Proceedings of Intelligent Robotic Sys. for Space Exploration, IEEE. pp. 159-178.

Shahrokni, A., et al. 2006. “One-Dimensional Force Feedback Slider:Going from an Analogue to a Digital Platform.” Chalmers University of Technology. Göteborg, Sweden.

Sinclair, S., M. Wanderley. 2009. “A run-time programmable simulator to enable multi-modal interaction with rigid-body systems.” Interacting with Computers. Special issue: Enactive Interfaces. 21(1-2):54-63

Sinclair, S., M. Wanderley. 2007. “Extending DIMPLE: a rigid body haptic simulator for interactive control of sound.” Enactive 07. Grenoble, France.

Sinclair, S., M. Wanderley. 2007. “Using PureData to control a haptically-enabled virtual environment.” PureData convention ‘07. Montreal.

Sinclair, S., M. Wanderley. 2007. “Defining a control standard for easily integrating haptic virtual environments with existing audio/visual systems.” In Proceedings of NIME07.

Sherrick, C. E. 1984. “Basic and applied research on tactile aids for deaf people: progress and prospects,” Journal of the Acoustical Society of America, vol. 75, pp. 1325–1342.

Srinivasan, M. A., J. Chen. 1993. “Human Performance in Controlling Normal Forces of Contact With Rigid Objects.” In Advances in Robotics, Mechatronics, and Haptic Interfaces, ASME. Kazerooni H., Colgate J. E., Adelstein B. D. (eds.), 49:119-125.

T

Tashiro, K., et al. 2009. “Realization of button click feeling by use of ultrasonic vibration and force feedback.” In Proceedings of the Haptics Symposium International Conference 2009,IEEE. pp.1-6.

Todoroff, T., 2002. “Control of Digital Audio Effects.” DAFX Digital Audio Effects. U. Zolzer (eds), J Wiley & Sons, pp. 465-497.

U

V

Verner, L.N., and A.M. Okamura. 2009. “Force & torque feedback vs force only feedback.” In Proceedings of the Haptics Symposium International Conference 2009, IEEE. pp.406-410.

Verner, L.N., and A.M. Okamura .2007. “Effects of Translational and Gripping Force Feedback are Decoupled in a 4-Degree-of-Freedom Telemanipulator.” In Proceedings of the Haptics Symposium International Conference 2007,IEEE. pp.286-291.

Verplank, B., et al. 2002. “ The PLANK: Designing a simple haptic controller.” In Proceedings of NIME02.

Verplank, W., 2005. ‘‘Haptic Music Exercises,’’ In Proceedings of NIME05 pp. 256–257.

Vlachos, K., et al. ‘‘Mass/inertia and joint friction minimization for a low-force five-dof haptic device.’’ In Proceedings of the IEEE Int. Conf. Robotics and Automation. 1: 286–291.

W

Wagner, C.R., and R.D. Howe. 2005. “Mechanisms of Performance Enhancement with Force Feedback.” In Proceedings of the Eurohaptics Conference 2005. pp. 21-29.

Wagner, C.R., et al. 2002. “The role of force feedback in surgery: analysis of blunt dissection.” In Proceedings of the 10th Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems. Orlando, FL, pp. 68–74.

Wanderley, M. 2001. “Gestural Control of Music” In  Proceedings of the International Workshop on Human Supervision and Control in Engineering and Music. Kassel, Germany. pp. 101-130.

Whitney, D.1997. “Force Feedback Control of Manipulator Fine Motions.” J Dyn. Syst. Measurement Contr. 98:91-97.

Wilson J., et al. 1999. “Algorithms for Network-Based Force Feedback.” In Proceedings of the Fourth PHANTOM Users Group Workshop. Salisbury, J.K. and  Srinivasan, M.A. (Eds), MIT.

Walker, K. et al. 2006. “Perception of Simultaneity and Detection of Asynchrony between Audio and Structural Vibration in Multimodal Music Reproduction.” In Proceedings of AES Convention:120. Paris, France.

X

Y

Yoshikawa, T., and A. Nagura. 1997. “A Touch and Force Display System for Haptic Interface.” In Proceedings of IEEE Int. Conf. Robotics and Automation. pp. 3018-3024.

Z

Zilles, C. and Salisbury, K. 1995. “A Constraint-Based God Object Method for Haptic Display,” proceedings of IROS-95, Pittsburgh, 3:146-151.