@article{Zheng:2020:ETE, title={Evaluating the Efficiency of Six-DoF Haptic Rendering-Based Virtual Assembly Training}, author={Mianlun Zheng and Danyong Zhao and Jernej Barbi\v{c}}, journal={IEEE Transactions on Haptics}, year = {2021}, volume = {14}, number = {1}, pages = {212--224}, }