@incollection{El-Sana:2000:CAHR, title = "Continously-Adaptive Haptic Rendering", author = "Jihad El-Sana and Amitabh Varshney", booktitle = "Virtual Environments 2000", editor = "J. Mulder and R. van Liere", publisher = "Springer-Verlag", year = "2000", pages = "135 -- 144" }