%0 Book Section %B Multi-point Interaction with Real and Virtual Objects %D 2005 %T Tactile Flow and Haptic Discrimination of Softness %A A. Bicchi %A E. P. Scilingo %A D. Dente %A N. Sgambelluri %E F. Barbagli %E D Prattichizzo %E K. Salisbury %K Haptics %B Multi-point Interaction with Real and Virtual Objects %S STAR - Springer Tracts in Advanced Robotics %I Springer Verlag %P 165-176 %G eng