Gentry, S. and Murray-Smith, R. <https://eprints.gla.ac.uk/view/author/11535.html>  (2003)  Haptic dancing: human performance at haptic decoding with a vocabulary.   In: IEEE International Conference on Systems Man and Cybernetics, Washington, D.C., USA, 5-8 October 2003,  pp. 3432-3437.   ISBN 0780379527