%0 Journal Article %J Transactions on Haptics %D 2010 %T Rendering Softness: Integration of kinaesthetic and cutaneous information in a haptic device %A E. P. Scilingo %A M. Bianchi %A G. Grioli %A A. Bicchi %K Haptics %K Robotics %B Transactions on Haptics %V 3 %P 109 - 118 %G eng