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            ______   __   _      ___     _    _   
    ___    /_   _// | || | ||   / _ \\  | |  | || 
   /   ||   -| ||-  | '--' ||  / //\ \\ | |/\| || 
  | [] ||   _| ||_  | .--. || |  ___  |||  /\  || 
   \__ ||  /_____// |_|| |_|| |_||  |_|||_// \_|| 
    -|_||  `-----`  `-`  `-`  `-`   `-` `-`   `-` 
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Text this: Force feedback without sensor : a preliminary study on haptic modeling