@inproceedings{coles2010effectiveness,
  title = {The effectiveness of commercial haptic devices for use in virtual needle insertion training simulations},
  author = {Coles, T and John, Nigel W},
  booktitle = {Advances in Computer-Human Interactions, Third International Conference on},
  pages = {148--153},
  year = {2010},
  organization = {IEEE}
}