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Virtual object manipulation system with substitutive display of tangential force and slip by control of vibrotactile phantom sensation

Tatsuya Ooka, Kinya Fujita. Virtual object manipulation system with substitutive display of tangential force and slip by control of vibrotactile phantom sensation. In 2010 IEEE Haptics Symposium, HAPTICS 2010, Waltham, MA, USA, March 25-26, 2010. pages 215-218, IEEE, 2010. [doi]

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