Paper  bibtex   

@article{1438,
  author = {Seongkook Heo and Geehyuk Lee},
  title = {Vibrotactile Compliance Feedback for Tangential Force Interaction},
  year = {2017},
  journal = {IEEE Transactions on Haptics},
  url = {https://doi.org/10.1109/toh.2016.2604305}
}