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Colgate, J. E., and J. M. Brown, "Factors affecting the z-width of a haptic display", Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on: IEEE, pp. 3205–3210, 1994.
Colgate, J. E., M. C. Stanley, and J. M. Brown, "Issues in the haptic display of tool use", Intelligent Robots and Systems 95.'Human Robot Interaction and Cooperative Robots', Proceedings. 1995 IEEE/RSJ International Conference on, vol. 3: IEEE, pp. 140–145, 1995.