Milan Ikits and J. Dean Brederson and Charles D. Hansen and Christopher R. Johnson.
A Constraint-Based Technique for Haptic Volume Exploration.
In Proceedings of IEEE Visualization '03, pp. 263--269, 2003.

Bibtex:

@InProceedings{ ikits:2003:CBHV,
  author = 	"Milan Ikits and J. Dean Brederson and Charles
                 D. Hansen and Christopher R. Johnson",
  title = 	"A Constraint-Based Technique for Haptic Volume
                 Exploration",
  booktitle = 	"Proceedings of IEEE Visualization '03",
  pages = 	" 263--269",
  year = 	"2003",
}