A Two-layer Haptic Device for Presenting a Wide Range of Softness and Hardness Using a Pneumatic Balloon and a Mechanical Piston.

Takuya Sasaki, Daiki Hagimori, Monica Perusqua-Hernndez, Naoya Isoyama, Hideaki Uchiyama, Kiyoshi Kiyokawa, Yoshihiro Kuroda

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