Tom Thompson II and David Johnson and Elaine Cohen.
Direct Haptic Rendering Of Sculptured Models.
In Proc. Symposium on Interactive 3D Graphics, pp. 167-176, 1997.

Bibtex:

@InProceedings{  thompson:1997:DHRM,
  author = 	 {Tom Thompson II and David Johnson and Elaine Cohen},
  title = 	 {Direct Haptic Rendering Of Sculptured Models},
  booktitle =    {Proc. Symposium on Interactive 3D Graphics},
  pages = 	 {167-176},
  year = 	 {1997},
  month = 	 {April},
}