Feeling and Seeing: Issues in Force Display
Margaret Minsky, Ming Ouh-young, Oliver Steele, Frederick P. Brooks, Jr., Max Behensky · ACM Symposium on Interactive 3D Graphics (SI3D '90) · pp. 235–243
A 1990 two-axis force-feedback joystick for virtual sandpaper. Derives a stability rule (T < 2B/K) that explains why 100 Hz with damping feels identical to 1000 Hz without it.