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This work characterizes aspects of human perception of a Haptic Jamming device, a tactile display capable of simultaneously and independently controlling its stiffness and geometry via particle jamming and pneumatic actuation. A single Haptic Jamming cell is filled with coarse coffee grounds, connected to vacuum, and placed over a pressure-regulated air(More)
In this paper we present a slip display aimed at rendering sensations associated with a wet or lubricated surface rather than the typical dry surface presented by most haptic slip displays. The device features a perforated rotating belt to generate slip sensations with air jet streams delivered through the perforation. The presence of an air stream at the(More)
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