@INPROCEEDINGS{Edminds:2008:Haptic,
  author = {T. Edmunds and D. K. Pa},
  title = {Perceptual Rendering for Learning Haptic Skills},
  booktitle = {Proceedings of the Symposium on Haptic Interfaces for Virtual Environment
	and Teleoperator Systems},
  year = {2008},
  url = {http://doi.ieeecomputersociety.org/10.1109/HAPTICS.2008.4479948}
}