@mastersthesis {2763,
	title = {Haptic Displays of Systems with Changing Kinematic Constraints: The Virtual Piano Action},
	volume = {Ph.D.},
	number = {STAN-M-92},
	year = {1996},
	month = {01/1996},
	school = {Stanford University},
	address = {Stanford, California},
	keywords = {displays, haptic, kinematic constraints, virtual piano action},
	url = {https://ccrma.stanford.edu/files/papers/stanm92.pdf},
	author = {Gillespie, Brent}
}
