See equation (2.38) p. 29 of Maronna et al. (2006)
Remark: Tukey's biweight psi-function is almost linear around u = 0 in accordance with
Winsor's principle that all distributions are normal in the middle.
This means that \psi (u)/u is approximately constant over the linear region of \psi,
so the points in that region tend to get equal weight.
References
Maronna, R.A., Martin D. and Yohai V.J. (2006), "Robust Statistics, Theory
and Methods", Wiley, New York.