Winter, Ch.Perriard, Y.2013-12-182013-12-182013-12-18201310.11142/jicems.2013.2.4.436https://infoscience.epfl.ch/handle/20.500.14299/98012Design of an Haptic Tactile Interface (HTI) with Friction Coefficient Measurementstext::journal::journal article::research article