Improved rendering for multi-finger manipulation using friction cone based god-objects

[1]  Mark R. Cutkosky,et al.  Friction modeling and display in haptic applications involving user performance , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[2]  John Kenneth Salisbury,et al.  A constraint-based god-object method for haptic display , 1995, Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots.