@article{ Barbic:2008:SHR,
  author = "Jernej Barbi\v{c} and Doug L. James",
  journal = "IEEE Transactions on Haptics",
  title = "Six-DoF Haptic Rendering of Contact between Geometrically Complex Reduced Deformable Models",
  year = "2008",
  volume = "1",
  number = "1",
  pages = "39--52",
}