@inproceedings{Ruffaldi:2006:HAPTICS,
  author = {Emanuele Ruffaldi and Dan Morris and Timothy Edmunds and Federico
            Barbagli and Dinesh K.Pai},
  title = {Standardized Evaluation of Haptic Rendering Systems},
  booktitle = {{HAPTICS}~'06: Proceedings of the Symposium on Haptic Interfaces
               for Virtual Environment and Teleoperator Systems},
  year = {2006},
  isbn = {1-4244-0226-3},
  pages = {255-232},
  doi = {10.1109/HAPTICS.2006.175},
  publisher = {IEEE Computer Society},
  address = {Washington, DC, USA}
}