@inbook {BSDDS05,
	title = {Tactile Flow and Haptic Discrimination of Softness},
	booktitle = {Multi-point Interaction with Real and Virtual Objects},
	series = {STAR - Springer Tracts in Advanced Robotics},
	number = {18},
	year = {2005},
	pages = {165-176},
	publisher = {Springer Verlag},
	organization = {Springer Verlag},
	keywords = {Haptics},
	author = {A. Bicchi and E. P. Scilingo and D. Dente and N. Sgambelluri},
	editor = {F. Barbagli and D Prattichizzo and K. Salisbury}
}
