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E. P.  Scilingo, Sgambelluri, N., and Bicchi, A., ?The Sense of Touch and its Rendering: Progresses in Haptics Research?, vol. 45/2008, A.  Bicchi, Buss, M., Ernst, M., and Peer, A., Eds. Berlin, Heidelberg: Springer, 2008, pp. 39 - 60. 

N.  Sgambelluri, Scilingo, E. P., Rizzo, R., and Bicchi, A., ?The Sense of Touch and its Rendering: Progresses in Haptics Research?, vol. 45/2008, A.  Bicchi, Buss, M., Ernst, M., and Peer, A., Eds. Berlin, Heidelberg: Springer, 2008, pp. 155-178.