@article{Culbertson17-TH-Surfaces,
  title = {Importance of Matching Physical Friction, Hardness, and Texture in Creating Realistic Haptic Virtual Surfaces},
  journal = {IEEE Transactions on Haptics},
  volume = {10},
  number = {1},
  pages = {63--74},
  year = {2017},
  slug = {culbertson17-th-surfaces},
  author = {Culbertson, Heather and Kuchenbecker, Katherine J.}
}