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Haptics in virtual environments: taxonomy, research status, and challenges., and . Comput. Graph., 21 (4): 393-404 (1997)Synchronization control for physics-based collaborative virtual environments with shared haptics., , , and . Adv. Robotics, 21 (9): 1001-1029 (2007)Efficient Point-Based Rendering Techniques for Haptic Display of Virtual Objects., , and . Presence Teleoperators Virtual Environ., 8 (5): 477-491 (1999)Tangential versus Normal Displacements of Skin: Relative Effectiveness for Producing Tactile Sensations., and . Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, page 121-128. IEEE Computer Society, (2002)The Role of Torque in Haptic Perception of Object Location in Virtual Environments., and . HAPTICS, page 302-309. IEEE Computer Society, (2003)Haptic Interactions in the Real and Virtual Worlds., , and . DSV-IS, page 1-16. Springer, (1999)The Role of Simulation Fidelity in Laparoscopic Surgical Training., , and . MICCAI (1), volume 2878 of Lecture Notes in Computer Science, page 1-8. Springer, (2003)An Integral Equation Based Multiresolution Modeling Scheme for Multimodal Medical Simulation., , and . HAPTICS, page 221-228. IEEE Computer Society, (2003)BlindAid: Virtual environment system for self-reliant trip planning and orientation and mobility training., , , and . HAPTICS, page 363-370. IEEE Computer Society, (2010)Ray-Based Haptic Rendering: Force and Torque Interactions between a Line Probe and 3D Objects in Virtual Environments., , and . Int. J. Robotics Res., 19 (7): 668-683 (2000)