@misc{indiciaec02174a6159b,
  title = {Haptic rendering--touch-enabled interfaces.},
  author = {Ming C Lin and Kenneth Salisbury},
  doi = {10.1109/mcg.2004.51},
  url = {https://pubmed.ncbi.nlm.nih.gov/15580832/},
  note = {Source identifier: 15580832}
}