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Schorr et al have shown in 2013 that cutaneous skin-stretch can effectively augment human stiffness perception in a grounded haptic device.
For our semester project for Haptic Interface Design we wanted to see if this same modality could be leveraged in an ungrounded application.
Our project combined a Microsoft HoloLens with a novel, ungrounded, haptic pen with two skin-stretch pads. A demo at the end of the semester showed
that combining visual and haptic feedback could effectively render the sensation of interacting with a soft object in mid-air.
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