@misc{zamani2021masking,
  title={Masking Effects in Combined Hardness and Stiffness Rendering Using an Encountered-Type Haptic Display},
  author={Naghmeh Zamani and Heather Culbertson},
  year={2021},
  eprint={2110.06982},
  archivePrefix={arXiv},
  primaryClass={cs.RO},
  url={https://arxiv.org/abs/2110.06982}
}