Claudiney Sanches Júnior,  Marcelo Knörich Zuffo. 

Currently interactivity between people and computers take place mainly through image and the sound. Studies in the field of virtual reality have been directed towards the tactile perception and force feedback. The general objective of this article is to study the requirements for an interactive controller for force feedback, displaying its necessities, limitations and possible commands to be developed in a library of force feedback that make possible the construction equipment of able to integrate the physical world (real) and the virtual world.

http://www.lbd.dcc.ufmg.br/colecoes/svr/2006/052.pdf

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