Cagatay Basdogan and Chih-Hao Ho and Mandayam A. Srinivasan.
A Ray-Based Haptic Rendering Technique for Displaying Shape and Texture of 3D Objects in Virtual Environments.
In Proc. ASME Dynamic Systems and Control Division, pp. 77 -- 84, 1997.

Bibtex:

@InProceedings{ basdogan:1997:RBHR,
  author = 	"Cagatay Basdogan and Chih-Hao Ho and Mandayam
                 A. Srinivasan",
  title = 	"A Ray-Based Haptic Rendering Technique for Displaying
                 Shape and Texture of 3D Objects in Virtual
                 Environments",
  booktitle = 	"Proc. ASME Dynamic Systems and Control Division",
  pages = 	"77 -- 84",
  year = 	"1997",
}