Rotary elements are very versatile and often used elements in Human-Machine-Interaction (HMI). Since they are very common in automotive applications, a lot of studies were made by or in cooperation with automotive manufacturers (see for example Reisinger (2009), Reisinger et al. (2006) or Anuguelov (2009)). In the last year, Manuel Kühner published his dissertation “Haptische Unterscheidbarkeit mechanischer Parameter bei rotatorischen Bedienelementen” as addition to the existing studies.
Need a good start into the topic of the control of bilateral teleoperation? Then check out this paper of Hokayem and Spong about the history of control schemes of bilateral teleoperation.