Diego C. Ruspiniand Krasimir Kolarov and Oussama Khatib.
The Haptic Display of Complex Graphical Environments.
In Computer Graphics (SIGGRAPH 97 Conference Proceedings), pp. 345--352, 1997.

Bibtex:

@InProceedings{ ruspini:1997:HDCE,
  author = 	"Diego C. Ruspiniand Krasimir Kolarov and Oussama
                  Khatib",
  title = 	"The Haptic Display of Complex Graphical Environments",
  booktitle = 	"Computer Graphics (SIGGRAPH 97 Conference
                  Proceedings)",
  pages = 	"345--352",
  year = 	"1997",
}