@incollection{El-Sana2000Continuously,
    title = {{Continously-Adaptive Haptic Rendering}},
    author = {Jihad El-Sana and Amitabh Varshney},
    booktitle = {Virtual Environments 2000},
    year = {2000},
    editor = {J. Mulder and R. van Liere},
    publisher = {Springer-Verlag},
    pages = {135 -- 144}
}