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@ARTICLE{Knott:682956,
      author       = {Knott, Thomas C. and Kuhlen, Torsten},
      title        = {{A}ccurate and adaptive contact modeling for multi-rate
                      multi-point haptic rendering of static and deformable
                      environments},
      journal      = {Computers $\&$ graphics},
      volume       = {57},
      issn         = {0097-8493},
      address      = {Amsterdam [u.a.]},
      publisher    = {Elsevier Science},
      reportid     = {RWTH-2017-01133},
      pages        = {68-80},
      year         = {2016},
      cin          = {124620 / 120000 / 080012},
      ddc          = {004},
      cid          = {$I:(DE-82)124620_20151124$ / $I:(DE-82)120000_20140620$ /
                      $I:(DE-82)080012_20140620$},
      typ          = {PUB:(DE-HGF)16},
      UT           = {WOS:000377834900009},
      doi          = {10.1016/j.cag.2016.03.007},
      url          = {https://publications.rwth-aachen.de/record/682956},
}