@inproceedings{McMahan09-IROS-Actuator,
  title = {Haptic Display of Realistic Tool Contact Via Dynamically Compensated Control of a Dedicated Actuator},
  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},
  slug = {mcmahan09-iros-actuator},
  author = {McMahan, William and Kuchenbecker, Katherine J.}
}