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Haptic Rendering: Programming Touch Interaction with Virtual Objects., , , , and . SI3D, page 123-130. ACM, (1995)The Haptic Interfaces of the Next Decade (Panel)., , , , and . VR, page 241-. IEEE Computer Society, (2000)The PHANToM Haptic Interface: A Device for Probing Virtual Objects, and . Proceedings of the ASME International Mechanical Engineering Congress and Exhibition, page 295--302. Chicago, IL, (1994)