@conference {KEEYIP06,
	title = {Experiments in Planar Haptic Contour Exploration},
	booktitle = {World Haptics 2007},
	year = {2007},
	url = {http://users.soe.ucsc.edu/~manduchi/papers/manduchiPlanarContour.pdf},
	author = {Chan,Kee-Yip and Kitagawa, K. and Roberto Manduchi}
}
