Text this: Force feedback without sensor : a preliminary study on haptic modeling

  _____    __   __              _____     _  __  
 /  ___||  \ \\/ //   ____     |  ___||  | |/ // 
| // __     \ ` //   |    \\   | ||__    | ' //  
| \\_\ ||    | ||    | [] ||   | ||__    | . \\  
 \____//     |_||    |  __//   |_____||  |_|\_\\ 
  `---`      `-`'    |_|`-`    `-----`   `-` --` 
                     `-`