Diego Ruspini and Khatib Oussama.
Dynamic Models for Haptic Rendering Systems.
In Advances in Robot Kinematics: ARK'98, pp. 523--532, 1998.

Bibtex:

@Article{        ruspini:1998:DMHR,
  author = 	 {Diego Ruspini and Khatib Oussama},
  title = 	 {Dynamic Models for Haptic Rendering Systems},
  journal = 	 {Advances in Robot Kinematics: ARK'98},
  year = 	 {1998},
  pages = 	 {523--532},
  month = 	 {June},
}