Dr. William Baird (Physics) and Dr. Felix Hamza-Lup have published a paper in the journal EuroHaptics. The publication, titled "Feel the Static and Kinetic Friction" was published in the 2012 edition of the journal, LNCS 7282, pp181-192.  The paper describes the implementation of the sense of touch in 3D simulations to teach important concepts in introductory physics. Specifically, a visuo-haptic simulation for friction was developed.