Cauche, N.Delchambre, A.Rouiller, P.Helmer, P.Baur, C.Clavel, R.2005-02-042005-02-042005-02-04200310.1109/ISATP.2003.1217213https://infoscience.epfl.ch/handle/20.500.14299/194078hapticsforce feedback[VRAI]text::conference output::conference proceedings::conference paper