Stable haptic interaction with virtual environments. Adams, R. J. and Hannaford, B. IEEE Trans. Robot. Autom., 15:465–474, 1999.
bibtex   
@Article{SCC.Adams.Hannaford1999,
  author    = {Adams, R. J. and Hannaford, B.},
  title     = {Stable haptic interaction with virtual environments},
  journal   = {IEEE Trans. Robot. Autom.},
  year      = {1999},
  volume    = {15},
  pages     = {465--474},
  issn      = {1042-296X},
  owner     = {claplassotte},
  timestamp = {2012.07.02},
}
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