%0 Thesis %B Department of Mechanical Engineering %D 1996 %T Haptic Displays of Systems with Changing Kinematic Constraints: The Virtual Piano Action %A Gillespie, Brent %C Stanford, California %I Stanford University %K displays %K haptic %K kinematic constraints %K virtual piano action %U https://ccrma.stanford.edu/files/papers/stanm92.pdf %V Ph.D. %8 01/1996