@article{coles2011role,
  title = {The role of haptics in medical training simulators: a survey of the state of the art},
  author = {Coles, Timothy and Meglan, Dwight and John, Nigel W},
  journal = {Haptics, IEEE Transactions on},
  volume = {4},
  number = {1},
  pages = {51--66},
  year = {2011},
  publisher = {IEEE}
}