A Two-layer Haptic Device for Presenting a Wide Range of Softness and Hardness Using a Pneumatic Balloon and a Mechanical Piston.
Takuya SasakiDaiki HagimoriMonica Perusquía-HernándezNaoya IsoyamaHideaki UchiyamaKiyoshi KiyokawaYoshihiro KurodaPublished in: RO-MAN (2023)