Tele-touch feedback of surfaces at the micro/nano scale: modeling and experiments - Metin Sitti; Satoshi Horighuchi; Hideki Hashimoto (Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients, October 17-21,1999, Hyundai Hotel, Kyongju, Korea, 1999)