?url_ver=Z39.88-2004&rft_id=10.1109%2FITSIM.2010.5561305&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.aufirst=M.&rft.au=Khan%2C+M.&rft.aulast=Khan&rft.isbn=9781424467181&rft.title=Exploring+the+quantitative+and+qualitative+measures+for+haptic+systems&rft.date=2010&rft.genre=proceeding