@inproceedings{Edmunds:2008:HAPTICS,
  author = {Timothy Edmunds and Dinesh K. Pai},
  title = {Perceptual Rendering for Learning Haptic Skills},
  booktitle = {{HAPTICS}~2008: {IEEE} International symposium on Haptic
               Interfaces for Virtual Environments and Teleoperator Systems},
  year = {2008},
  location = {Reno, Nevada},
  pages = {225--230},
  publisher = {{IEEE} Computer Society}
}