David Johnson and Pete Willemsen.
Six Degree-of-Freedon Haptic Rendering of Complex Polygonal Models.
In Haptics Symposium 2003, 2003.

Bibtex:

@InProceedings{ johnson:2003:SDFR,
  author =      "David Johnson and Pete Willemsen",
  title =       "Six Degree-of-Freedon Haptic Rendering of Complex
                 Polygonal Models",
  booktitle =   "Haptics Symposium 2003",
  year =        "2003",
  month =       "March",
}