Tom Thompson II and Elaine Cohen.
Direct Haptic Rendering Of Complex Trimmed NURBS Models.
In Proc. 8th Annual Symp. on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 1999.

Bibtex:

@InProceedings{  thompson:1999:DHRN,
  author = 	 {Tom Thompson II and Elaine Cohen},
  title = 	 {Direct Haptic Rendering Of Complex Trimmed NURBS
                  Models},
  booktitle =    {Proc. 8th Annual Symp. on Haptic Interfaces for
                  Virtual Environment and Teleoperator Systems},
  year = 	 {1999},
  month = 	 {November},
}