Two researchers in this area are Lynette A. Jones and Ian W. Hunter in Biorobotics at MIT.
LA Jones and IW Hunter, "A Perceptual Analysis of Stiffness", Exp Brain Res (1990) 79: pp.150-156
LA Jones and IW Hunter, "A Perceptual Analysis of Viscosity", Exp Brain Res (1993) 94:pp. 343-351
LA Jones and IW Hunter, "Influence of the Mechanical Properties of a Manipulandum on Human Operator Dynamics", Biol. Cybern. (1990) 62, pp. 299-307
LA Jones and IW Hunter, "Influence of the Mechanical Properties of a Manipulandum on Human Operator Dynamics. II. Viscosity", Biol. Cybern. (1993) 69, pp. 295-303
LA Jones, "Perception of Force and Weight:
Theory and Research", Psychological Bulletin 1986, Vol 100, No. 1, pp.
29-42.
FJ Clark and K W Horch, "Kinesthesia",
in Handbook of Perception and Human Performance, Vol 1, Sensory Processes
and Perception. ed: KR Boff, L Kaufman, JP Thomas. 1986: Wiley &
Sons, NY.