?url_ver=Z39.88-2004&rft_id=10.1109%2FNatPC.2011.6136325&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.aufirst=M.&rft.au=Khan%2C+M.&rft.aulast=Khan&rft.date=2011&rft.title=Research+approach+to+develop+usability+evaluation+framework+for+haptic+systems&rft.isbn=9781457718847&rft.genre=proceeding