Improving perceived hardness of haptic rendering via stiffness shifting: an initial study

Gabjong Han, Seokhee Jeon, Seungmoon Choi. Improving perceived hardness of haptic rendering via stiffness shifting: an initial study. In Stephen N. Spencer, Yoshifumi Kitamura, Haruo Takemura, Kiyoshi Kiyokawa, Benjamin Lok, Daniel Thalmann, editors, Proceedings of the ACM Symposium on Virtual Reality Software and Technology, VRST 2009, Kyoto, Japan, November 18-20, 2009. pages 87-90, ACM, 2009. [doi]

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