Narihiro Nishimura Daniele Leonardis Massimiliano Solazzi Antonio Frisoli Hiroyuki Kajimoto Wearable encounter-type haptic device with 2-DoF motion and vibration for presentation of friction. 1 2014 HAPTICS https://doi.org/10.1109/HAPTICS.2014.6775537 conf/haptics/2014 db/conf/haptics/haptics2014.html#NishimuraLSFK14a