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View all- Doherty CTennison JGorlewicz J(2024)Hapt-X-Pand: The Design and Evaluation of a Radially Expanding and Contracting Skin Drag Haptic Device2024 IEEE Haptics Symposium (HAPTICS)10.1109/HAPTICS59260.2024.10520850(264-270)Online publication date: 7-Apr-2024