@inproceedings{McMahan09-IROS-Actuator, title = {Haptic Display of Realistic Tool Contact Via Dynamically Compensated Control of a Dedicated Actuator}, author = {McMahan, William and Kuchenbecker, Katherine J.}, booktitle = {Proc.\ IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, pages = {3171--3177}, address = {St. Louis, Missouri, USA}, year = {2009}, note = {Oral presentation given by McMahan}, doi = {} }