Virtual Peg-in-Hole Performance Using a 6-DOF Magnetic Levitation Haptic Device: Comparison with Real Forces and with Visual Guidance Alone.
Bertram J. UngerA. NicolaidisPeter J. BerkelmanA. ThompsonSusan J. LedermanRoberta L. KlatzkyRalph L. HollisPublished in: Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (2002)