C.B.Zilles and J.K. Salisbury.
A constraint-based god-object method for haptic display.
In Proc. IEE/RSJ International Conference on Intelligent Robots and Systems, Human Robot Interaction, and Cooperative Robots, pp. 146--151, 1995.

Bibtex:

@InProceedings{  zilles:1995:CBGO,
  author = 	 {C.B.Zilles and J.K. Salisbury},
  title = 	 {A constraint-based god-object method for haptic
                  display},
  booktitle =    {Proc. IEE/RSJ International Conference on
                  Intelligent Robots and Systems, Human Robot
                  Interaction, and Cooperative Robots},
  pages = 	 {146--151},
  year = 	 {1995},
}