Chih-Hao Ho and Cagatay Basdogan and Mandayam A. Srinivasan.
Efficient point-based rendering techniques for haptic display of virtual objects.
In Presence 8(5), pp. 477--491, 1999.

Bibtex:

@InProceedings{	ho:1999:EPBR,
  author = 	"Chih-Hao Ho and Cagatay Basdogan and Mandayam
                 A. Srinivasan",
  title = 	"Efficient point-based rendering techniques for haptic
                 display of virtual objects",
  booktitle = 	"Presence 8(5)",
  pages = 	"477--491",
  year = 	"1999",
}