I. Peterlík, C. Duriez, and S. Cotin, Constraint-Based Haptic Rendering of Multirate Compliant Mechanisms, IEEE Transactions on Haptics, vol.4, issue.3, 2011.
DOI : 10.1109/TOH.2011.41

J. Colgate, M. Stanley, and J. Brown, Issues in the haptic display of tool use, Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots, p.3140, 1995.
DOI : 10.1109/IROS.1995.525875

C. B. Zilles and J. K. Salisbury, A constraint-based god-object method for haptic display, Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots, p.3146, 1995.
DOI : 10.1109/IROS.1995.525876

D. C. Ruspini, K. Kolarov, and O. Khatib, The haptic display of complex graphical environments, Proceedings of the 24th annual conference on Computer graphics and interactive techniques , SIGGRAPH '97, pp.345-352, 1997.
DOI : 10.1145/258734.258878

M. Ortega, S. Redon, and S. Coquillart, A Six Degree-of-Freedom God-Object Method for Haptic Display of Rigid Bodies with Surface Properties, IEEE Transactions on Visualization and Computer Graphics, vol.13, issue.3, pp.458-469, 2007.
DOI : 10.1109/TVCG.2007.1028
URL : https://hal.archives-ouvertes.fr/inria-00390318

M. Bro-nielsen and S. Cotin, Real-time Volumetric Deformable Models for Surgery Simulation using Finite Elements and Condensation, Computer Graphics Forum, vol.15, issue.3, pp.57-66, 1996.
DOI : 10.1111/1467-8659.1530057
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.49.2967

S. Cotin, H. Delingette, and N. Ayache, Real-time elastic deformations of soft tissues for surgery simulation, IEEE Transactions on Visualization and Computer Graphics, vol.5, issue.1, pp.62-73, 1999.
DOI : 10.1109/2945.764872
URL : https://hal.archives-ouvertes.fr/inria-00615032

D. L. James and D. K. Pai, A unified treatment of elastostatic contact simulation for real time haptics, ACM SIGGRAPH 2005 Courses on , SIGGRAPH '05, 2005.
DOI : 10.1145/1198555.1198614

J. Barbi? and D. L. James, Real-time subspace integration for st. venant-kirchhoff deformable models, SIGGRAPH '05: ACM SIGGRAPH 2005 Papers, pp.982-990, 2005.

D. Harmon, E. Vouga, B. Smith, E. Tamstorf, and . Grinspun, Asynchronous contact mechanics, ACM Transactions on Graphics, vol.28, issue.3 1, 2009.
DOI : 10.1145/1531326.1531393
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.216.155

F. Barbagli, D. Prattichizzo, and K. Salisbury, A Multirate Approach to Haptic Interaction with Deformable Objects Single and Multipoint Contacts, The International Journal of Robotics Research, vol.24, issue.9, pp.703-715, 2005.
DOI : 10.1177/0278364905057055

O. R. Astley and V. Hayward, Multirate haptic simulation achieved by coupling finite element meshes through Norton equivalents, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146), pp.989-994, 1998.
DOI : 10.1109/ROBOT.1998.677216
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.32.840

M. C. Cavusoglu and F. Tendick, Multirate simulation for high fidelity haptic interaction with deformable objects in virtual environments, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065), pp.2458-2465, 2000.
DOI : 10.1109/ROBOT.2000.846397

G. Debunne, M. Desbrun, M. Cani, and A. H. Barr, Dynamic realtime deformations using space & time adaptive sampling, Proc. of the 28th Conf. on Comp. graphics and Int. Tech, pp.31-36, 2001.
DOI : 10.1145/383259.383262
URL : https://hal.archives-ouvertes.fr/inria-00510045

M. A. Otaduy and M. Gross, Transparent Rendering of Tool Contact with Compliant Environments, Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC'07), pp.225-230, 2007.
DOI : 10.1109/WHC.2007.120

G. Saupin, C. Duriez, and S. Cotin, Contact Model for Haptic Medical Simulations, ISBMS '08: Proceedings of the 4th international symposium on Biomedical Simulation, pp.157-165, 2008.
DOI : 10.1007/978-3-540-70521-5_17
URL : https://hal.archives-ouvertes.fr/hal-00841570

C. Garre and M. A. Otaduy, Haptic rendering of complex deformations through handle-space force linearization, World Haptics 2009, Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp.422-427, 2009.
DOI : 10.1109/WHC.2009.4810813

P. Jacobs, M. J. Fu, and M. C. Cavusoglu, High Fidelity Haptic Rendering of Stick-Slip Frictional Contact With Deformable Objects in Virtual Environments Using Multi-Rate Simulation, Proceedings 2007 IEEE International Conference on Robotics and Automation, 2010.
DOI : 10.1109/ROBOT.2007.363774

G. Böttcher, D. Allerkamp, and F. Wolter, Multi-rate coupling of physical simulations for haptic interaction with deformable objects, The Visual Computer, vol.24, issue.2, pp.6-8, 2010.
DOI : 10.1007/s00371-010-0450-1