BibTex format
@article{Gathmann:2020:10.1109/TOH.2020.2969162,
author = {Gathmann, T and Atashzar, SF and Alva, PGS and Farina, D},
doi = {10.1109/TOH.2020.2969162},
journal = {IEEE TRANSACTIONS ON HAPTICS},
pages = {191--196},
title = {Wearable Dual-Frequency Vibrotactile System for Restoring Force and Stiffness Perception},
url = {http://dx.doi.org/10.1109/TOH.2020.2969162},
volume = {13},
year = {2020}
}