Seeing without Sight- designing with haptics for the visually impaired

Seeing Without
Sight:
Designing with Haptics
for the Visually Impaired

Seeing Without Sight: Designing with Haptics for the Visually Impaired CMT3321- Coursework 3
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Table of Contents

ABSTRACT...................................................................................................................................................... 3
1. INTRODUCTION ......................................................................................................................................... 3
2. PROBLEM DEFINITION............................................................................................................................... 5
2.1 Background ......................................................................................................................................... 5
2.2 An Illustrative Case (Scenario) ............................................................................................................ 6
3. SCOPE OF DESIGN ..................................................................................................................................... 7
3.1 Target Audience .................................................................................................................................. 7
3.2 Assistive Functionality......................................................................................................................... 7
3.3 Limitations and Considerations .......................................................................................................... 8
4. DESIGN SOLUTION .................................................................................................................................... 9
4.1 Biologically inspired design ................................................................................................................. 9
4.2 Determination on Onset (Design Principles) ...................................................................................... 9
4.3 Conceptual Design ............................................................................................................................ 11
5 PROTOTYPE DEVELOPMENT .................................................................................................................... 12
5.1 The Planning Stage ............................................................................................................................ 12
5.1.1 Google Map plug-in.................................................................................................................... 12
5.1.2 Magnetic Clay tablet .................................................................................................................. 13
5.1.3 Haptic Pen .................................................................................................................................. 14
5.2 The Execution Stage .......................................................................................................................... 15
5.2.1 Ultra Cane add-on ...................................................................................................................... 15
5.2.2 Pressure Jacket........................................................................................................................... 16
6. IMPLEMENTATION PLAN......................................................................................................................... 18
6.1 Basic System Components ................................................................................................................ 18
Hardware ................................................................................................................................................ 18
7. CONCLUSION ........................................................................................................................................... 19
REFERECES................................................................................................................................................... 20
APPENDIX
INDIVIDUAL REPORTS

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ABSTRACT

Haptic communication is intuitive and easy to learn providing a new and unique method for all users,
especially for the blind and visually impaired. This paper discusses how this technology and mode of
interaction can be used to develop a design to help aid such users in planning and navigating a journey
independently. Different considerations of the user’s ability, perception, environment and experience
have impacted the features of the devices conceptualized. Some of the existing devices have been
specialized to include and be equipped to have more comprehensive interaction.

Keywords

Haptic Interaction, assistive technology,

1. INTRODUCTION

Our perceptions of the world arise as a combination of correlated input across several of the senses.
Although sensory modalities such as vision and audition have been investigated in detail, our most
intimate sense, touch, has been somehow neglected until the last decade. Consider the act of haptically
exploring an object. Touching an object's surface often simultaneously yields information regarding the
compliance, texture, shape and heat conductive qualities of the object. The touching process may also
be perceived aurally, for example, a tap or scrape, and is usually supported by visual stimulus regarding
the object's global structure and surface properties. Indeed, it is this correlative information that has led
researchers to hypothesize that touch is more of a "reality sense" than the other four human senses
(Taylor, Lederman & Gibson, 1973). In truth, it is likely not only the touch sensations themselves that
give rise to this impression of "reality", for as our simple example has shown, several other senses are
intrinsically involved. Our perception of something touched as being somehow more "real" may also be
a result of the fact that, historically, sensory illusions have rarely appealed to the sense of touch.

When a human subject tries to determine his own position with respect to salient points, his entire body
is considered as an object of the environment. This spatial knowledge requires the capability of using
our sensory modalities in the environment to identify with it. In particular, during navigation, i.e. a
displacement of the entire body, the subject has both to gain knowledge of the position of his starting

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and final points and to update his current position. Since vision is predominantly involved in this
process, identifying the common landmarks remains a major difficulty for blind people during
navigation.In this respect, virtual reality constitute valuable tools to provide blind people with a
naturalistic and intuitive interface dedicated to the development of spatial knowledge. In particular,
they can take advantage of haptic maps when getting the cartographic information via a computer
controlled, motorized device held in the hand. Such a device produces force feed-backs when the user
touches a virtual object. Rice, Jacobson, Golledge and Jones (2005) suggest that in some circumstances
haptics can substitute for other sensory modalities like vision.

Jansson and Pederson (2005) attempted to enable blind people to touch virtual geographical
environments with a haptic mouse and with a Phantom Omni device, but the benefits of these new
devices do not show real improvement. Later Jacobson et al. (2005) use a force-feedback mouse and
auditory labels or directions to give a mixed modal interface that allows more comprehensive feedback.
Here, in our preliminary study, we try to enhance the capability of a blind or visually impaired to access
geographical information he needs to navigate via an haptic device and via a tactile map.

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2. PROBLEM DEFINITION

2.1 Background

The word navigation can be understood in several ways: when referring to navigation, it can mean
that some (motor) vehicle, like a car, an airplane, or a ship is driven. Then again, navigation means
browsing in the World Wide Web or some (graphical) interface. In some cases, the word navigation
is used to describe a situation, when someone is guides or controls someone else, or a machine
(Oxford English Dictionary, 2008).

In haptic navigation, the user has a device, which leads them to the desired location by using
feedback based on the sense of touch. Feedback can be given via vibrating, pulses, by pushing and
pulling (Amemiya et al., 2008), or by leaning to the needed direction (Frey, 2007). Sometimes the
device can use several haptic feedbacks at the same time [Wang and O’Friel], or a combination of
different modalities [IDEO]. In general, the haptic communication is one-sided: the device gives
output, but the user does not communicate with the device, not at least with haptic interaction.

One can use haptic navigation in a virtual environment, browsing graphical interface, or moving in
the real world. One can find some techniques produced for haptic navigation in graphical interface:
for instance, it is possible to make large amounts of data more understandable by using haptics and
haptic navigation, like information visualization does. This is useful for example for visually impaired
users, as they are able to access information usually described in visual or graphical means. Also, this
might mean that browsing is faster and easier, as navigation is not based on reading or using screen
readers. Several haptic navigational devices for navigating in real world have been developed. Some
of the devices have been made for visually impaired (e.g. [Amemiya et al., 2008; Amemiya and
Sugiyama, 2008]), for special situations, where visual and auditory channels are taken, like when
driving a car, navigating a ship, or flying, as well as various common use, in various situation for
various people.

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2.2 An Illustrative Case (Scenario)

Mike is a 20 year old university student who recently got into an accident that temporarily impaired
his vision. Being used to his independence he finds it frustrating to depend on others to assist him
and take him places. He has made himself accustomed to using a cane in order to feel his way
around home and known local streets, however it has not been easy. Trying to find other assistive
devices that might help overcome this disability, Mike discovers that most require him to learn
Braille or to train in using them before he can take it out in the streets.

Mike requires a solution that would take into consideration the following features:

• Interaction with a computer with the aid of some device that would be able to let the user
receive haptic feedback from his actions.

• Ability to plan a journey with optional alternative routes to select from. Induce a learning
function in order to get familiar with the path and any landmarks that might be associated.

• Automated guidance on the roads keeping in mind to not hinder the real-time environment.
Independent navigation along the decided path without the use of map.

• Prohibition on being led astray or going wayward to lose the path. Monitoring of the route
selected and in case of unforeseen obstacles, instantaneous actions so as to not hinder the
user.

• Ability to hide away any assistive device being used in a given situation or environment if the
user chooses to do so. Flexibility of some functionalities still being active after stowing away
the visible device.

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3. SCOPE OF DESIGN

3.1 Target Audience

The device is supportive of any individually that is either partially or fully visually impaired. It must
be independent of differentiation on the basis of age, gender, culture and literacy. However, the
user must have the mental capacity of understanding what is being perceived by his senses. The
user must also have an instinct according to which he would be required to react and use the device.

3.2 Assistive Functionality

The haptic interactive device solution should chiefly allow the planning of a trip and thereafter the
successful implementation of it on the road. The design solution should provide the user:

i) Interaction capacity with a computer as well as a map for route planning. It must be include
a device capable of giving haptic feedback to the user according to the actions he
undertakes or commands he gives. Special consideration must be given to the different
range of visual impairments that exist while designing.

ii) Independent planning and exploration of a map must be allowed for the user to decide on
the route he wants to take for his journey. It should include techniques of allowing the user
to form a mental image as well as aid his learning of the route and its features of its
location.

iii) Safely and autonomously complete the journey on the decided route keeping in mind
unforeseen obstacles that might come in the way and environmental constraints that might
hinder the user’s concentration and progress.

On the level of non-functionality, the devised solution must be able to meet the standards of being:

i) Trustworthy – The device should maximize the user’s trust and behave in a manner that is
predicted by the user. Actions undertaken by the device must be consistent and feedback
must be given to ensure the maintenance of user’s confidence.

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ii) Secure- The device must be safe in its physical form so as not to induce injury to the user or
his surroundings. It must not incur errors and in case of such an event, instant action must
be taken to ensure no harm is done.

iii) Aid in perception- The device must be aesthetical pleasing and have minimalistic design. The
interface must be easy to understand and the content must be appropriate. The
functionalities of the device must be obvious and shouldn’t require training for use.

3.3 Limitations and Considerations

While designing for the visually impaired considerations must be given that not all users are blind.
Most suffer from partial loss of vision and might be capable of identifying visual cues as well. Some
users might suffer from light sensitivity but be able to make out forms with the help of shadows
cast. A lack of peripheral vision as well as extreme near-or far-sightedness is also considered as
visual impairments.

Thus the challenges that this design faced were: (a) What mode of interaction would the user be
allowed to have with the system/device? (b) How would the device interact with the user without
distracting them from their environment or task (c) What actions of the device would be automated
and which should allow user manipulation?

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4. DESIGN SOLUTION

“All design is redesign” is a popular cliché in design research that resonated with case-based reasoning
because it suggests that the design of a new artifact must build on the knowledge of existing designs of
a similar kind and must draw upon the experiences of designing similar artifacts. Design practitioners
have applied the case-based paradigm for numerous classes of design problems in a variety of domains
including architecture, computing, and engineering.

In this paper we consider biologically inspired (or biomimetic) design that uses biological systems as
analogues for addressing design problems (Benyus 1997).

4.1 Biologically inspired design

Biomimicry is an important, widespread and growing movement that espouses looking at nature for
inspiration and potential solutions for solving design problems in various domains. In engineering in
particular, adaptation of functions and mechanisms of biological systems has led to new and
innovative designs in a variety of domains such as sensors, materials, mechanics and mechanical
systems, robotics, computers and computing (Bar-Cohen 2006).

One goal of the research conducted for this project was to understand the cognitive processes of
biologically inspired design with the aim of promoting it through the development of better design
concept, product educational techniques and computational tools. This was made possible by close
observation of everyday life and activities and a study of researched papers on the anatomy of
walking, synchronized walking and guided walking (details can be found in the bibliography).

4.2 Determination on Onset (Design Principles)

Before setting out to conceptualize the design solution certain principles need to be determined and
decided upon that would serve as the corner stone upon which the design is built. As an assistive
technology for the visually impaired our devised solutions must meet the following features of:

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• Learnabitlity – Designing an assistive device for impairments require it to be an easy to use
system. The user must feel comfortable in carrying out the task from the first instance. In
order to achieve this certain features such as familiarity, generalisability, predictability and
simplicity must be considered.

Using biomimicry would ensure that this criterion is met sufficiently as anything inspired by
nature is built-in and considered a natural instinct. This implies that not much training would
be required for the user to get accustomed to using the device regardless of their technical
and mental knowledge or skill.

• Memorability- Another usability feature to design for while considering assistive devices is
the ability of a user to remember and recollect how to function a system without having to
relearn it. Reestablishing proficiency is an important aspect in this design as there is no
room for errors and/or increasing the mental workload of a user.

In order to avoid any memorability issues that might be faced, thorough understanding
needs to be established of user’s expectations. An action from the user must give a
feedback/reaction that is being expected. In context of haptics, feedback must be accurate
to help bring users as close to reality as possible.

• Efficiency- Once the device has been mastered by the user, efficiency is the measure of how
fast a task may be accomplished. However, given our previous usability features, the same
needs to be heeded for users that have just been introduced or are learning the device. This
must be ensured chiefly for the safety of the user.

To design for efficiency there must be a control on the possibility of errors that might be
incurred by the device. As such an assistive device should be save of error events but in its
occurrence, recovery must be quick and effective. Feedback given by the system must me
regular and smooth as any delay or lack in it would lead to hesitation and confusion from
the user. Since the haptic solution is mostly automated, feedback must be swift and
accurate in maintaining its delivery.

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4.3 Conceptual Design

Figure: The design solution perceived with the help of technology and biomimicry.

On the first stage of design conception we tried to meet our said requirements by researching and using
a combination of technologies that seemed to be relevant and supportive of the discovered problems in
visual impairment and mapping them to natural instinct based solutions that we are born with. This
would reduce the mental processing of the users that set out to achieve their goal.

For the planning phase, plug-ins was designed for Google Maps that would be made accessible to the
user via a magnetic clay tablet equipped with a haptic pen. It uses and implements the theory of
creating mental imagery through the feel of texture and the help of drawing.

In the stage of independently conducting the actual travel, supportive device such as the cane was used
as a primary and instinct based probe for walking. An additional pressure jacket was devised to help
induce the feel of assisted walking without the presence of another individual.

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5 PROTOTYPE DEVELOPMENT

5.1 The Planning Stage

The human brain utilizes complex, still unknown procedures in order to perform intuitive tasks such as
to decode the information stored in maps. These procedures are very difficult to imitate using
computers. It is obvious that all common maps are perceived using the visual modality thus making
maps inaccessible for special population categories like the visually impaired. Moreover, since maps are
the major means of navigating into unknown spaces, it is more than clear that the visually impaired are
not able to use this means.

5.1.1 Google Map plug-in

The first requirement of the user is to be able to use a computer to access a map to plan a route for his
trip. Google maps is a web mapping service that is provided free and offers street maps as well as route
planner for travelling by foot, car or public transport. It also allows the identification of local landmarks
and provides satellite images. The map has a feature of terrain view that allows users to get a bird’s eye
view of the landscape.

The design solution is able to adapt and cater for the three main modules within its system:

i) An audio-to-text plug-in: Upon receiving a cue, the audio command given by the user is
registered as text in the appropriate text field for the registration of travelling points.

ii) Tablet-PC input: To facilitate haptic computer interaction, a specialized tablet is wirelessly
connected to the PC for map exploration. This ensures that the user can use the device is
platform independent as long as the user installs the plug-ins and pairs the device to a PC.

iii) Disabling/ Deactivating screen: For the user’s ability to explore the route selected and any
forming a mind map without accidentally clicking on links or other map features, the screen
is grayed out or disabled except for the path decided upon survey. This restricts the user
from encountering any unwanted navigation or errors.

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5.1.2 Magnetic Clay tablet

The visually impaired learn new things with the help of ‘feel’. Keeping to this natural habit of creating
mental images a design was developed to create a Digital Impression Board that would be given the
form of a tablet to communicate with the user’s computer and imprint images onto the board. This uses
the concept of developing a display of magnetic fluid that can take shape by manipulation of
electromagnetic forces (Takeno, 1999).

Figure: Electromagnetic forces change board’s texture to imprint the chosen route

The impression tablet is designed to enable the following functionality:

i) Imprint of map route: The board has an acrylic sheet that changes shape to take form of the
image being projected on the PC screen. This feature would ensure that the user’s chosen
route can be interacted with and explored upon. It would also enable the user to learn and
form an imagery of what the path looks like before actuating the journey.

ii) Customizable button initiators: At the side of the board are a few customizable buttons that
can serve as cue initiators for the user to give his feedback to the computer. In case where
the user wants to switch between tabs and alternate routes, he can use the buttons to
toggle and prompt audio commentary. These button initiators are also mapped to the
design of the on-screen Google map functionality to maintain consistency in design as well
as to form modularity.

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5.1.3 Haptic Pen

Another primary instinct that we adapt to from an early age is the ability to trace out or draw using a
handheld pen. While advanced haptic mouse have been developed for the purpose of computer
interaction for the visually impaired, a pen would serve as a more natural and adaptive device that
requires less to no learnability and is easy to use.

Thumb--press button for Finger-tip grip
for haptic In-built microphone to
In
Automated Nib-changer speech-
-to-text prompt
feedback receive voice commands
for texture probe

Figure: Haptic pen for PC
PC-tablet interaction

Along with mimicking the act of drawing, the haptic pen is equipped to handle four more functionalities:

i) Automated Nib-changer: Allows the user to feel the different textures of the selected route
changer:
with the theory of probing. Different paths such as sandy, rocky, slippery can be experienced
with the pressure and coarseness felt by the nib of the pen. This was adapted from the
experience of a common fountain pen’s nib.

ii) Thumb-press button: Initiates the audio
press audio-to-text plug-in so as to avoid any accidental
in
transcription of voice that is not meant to be a user response to the system.

iii) Finger-tip grip: The tips of our fingers are highly sensitive to the feel of surface tension. The
grip strip provides haptic feedback to the user using vibrations and pulse to indicate different
messages.

iv) In-built microphone: The tip of the haptic pen carries an in built microphone that gets
in-built
activated with the prompt of the thumb press button to receive voice commands from the
thumb-press
user for transcription.

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5.2 The Execution Stage

5.2.1 Ultra Cane add-on

One of devices that have been developed successfully and is dominant in the market is the Ultra Cane
which uses ultrasonic rays for object detection and swings away from them on impact. It also has a set
of vibratory buttons that gives feedback to the user but these require training for full adaption. While
using the cane as a part of the design solution we made the following additions to its functions:

Handle covered to give a
gripping/handholding
feedback

Underside of Haptic torch
integrated with GPS /compass

Rigid link for probe
texture detection

Figure: Modifications done to the Ultra Cane to include additional functionalities

i) Probe-texture detection- The chief feature added to the ultra cane was the ability for the
user to explore a texture with a probe that provides a rigid link between the skin and the
surface. The fingers hold the probe that comes in contact with the surface which then
reflects its contour properties onto the link that constitutes texture .

ii) GPS tracking automation- While the original cane depends on the user to find the way and
serves just as an obstacle detector, the integration of a compass in the device enables the

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synchronisation of the planned route of the user which then automates the directional
functionality of the design solution (read about the force jacket for more details).

iii) Security- While designs are often made unobtrusive in nature in consideration of people
with impairments, we need to consider the implications of the same. The cane ensures the
user an exploration space around him which would also enables him to react to any
feedback well within time. Hiding away such an assistive device would result in others (in
the environment) dismissing the user as someone with normal capacity of reflexes.

iv) Retractability- Having discussed the need for keeping part of the device visible and in the
open we have also considered situations in which the user might choose to be invisible. In
such cases, the cane has the added benefit of retracting into its own handle and would
appear to be no more than a handheld device to observers.

5.2.2 Pressure Jacket

After modulating the design solution into different segment and conducting research on the anatomy of
walking it became apparent that a cane, given its highly developed functionalities, would not suffice in
taking impromptu actions. Since we were focusing on the use of haptic forces and biomimicry, we
considered the implementation of a virtual assistive walk in which the user would feel that he is being
guided by another (except that he would not need the help of another individual or guide dog).

Although the idea seemed to be easy enough to envision, picking the right design was under
speculation. In the end, a wearable device seemed to cater to the functional as well as remain out of the
way of the user to enable him free hand space. Understanding the mechanism of assistive walking
enabled us to detect the points of pressure in a human body that can be used to stop, sway or rotate
from a path of action. This was inspired by the technique of how a child is hand guided on the road by
their parent or guardian.

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Force exerted at points for
Shoulder and Waist studied to
‘pulling’, ‘pushing’ sensation
be the turning points in
assistive/guided walking

Figure: Navigating without Maps Pointing you to the right direction with the help of force exertion
Maps-

The wearable assistive jacket chiefly has two pressure pads to navigate the user according to the
accordin
directional feedback being received from the modified ultra cane. Each of these points are used for:

i) Stopping- In case of obstacles or any detected hindrance, the jacket along with the cane’s
handle can enforce a pressure like to that of a hand pulling. This is felt mostly on the
forearm, wrist and shoulder.

ii) Directing- If the user is led astray from the decided route then the cane sends an alert signal
to the jacket and pressure is exerted on the points of shoulder and waist to rotate /push
them into the right direction.

There is however some concern as to how feasible this would be after development in a real
environment. Especially given the time constraint in which such an action needs to be undertaken, it is
hard to ensure that the user would be able to react to the forces he experiences. As seen with children
d
who are guided on the streets, the lower part of the body is still in motion after they have been pulled
to a halt by their parent.

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6. IMPLEMENTATION PLAN

In order to implement the design concept and make it feasible in the real world, the product planning
was based on the huge amount of market surveys available on the existing assistive devices that have
been developed and their popularity. Users are seen to be comfortable in carrying on with a product
that they are used to rather than experimenting with new concepts, therefore, in this design some of
the trends found through the survey are directly implemented in the product. For example, the existing
trust and popularity of Google Maps ensure that users would be willing to try a beta version of a new
plug-in. Similarly, the ultra cane is already adopted amongst the target audience and modification done
to the same device would be more acceptable than to introduce something entirely new.

6.1 Basic System Components

Hardware

Device Specification Function

1. Planning PC with internet connection, To access the internet and
Browser, Bluetooth navigate using interaction
device
Magnetic Clay Tablet Texture imprintation
Electromagnetic fluid display
Buttons
Haptic Pen For user interaction with board
-inbuilt microphone - Vibration
- thumb press button - Texture
- texture nibs - Command prompt
2. Implementation Ultra Cane For navigating the streets
- GPS device to embed - Route navigation
- Texture Probe - Feeling route
- Pressure Pad glove - Feedback
- Sensory rigid handle - Feedback

Wearable pressure jacket For realistic haptic feedback
- Sync sensors - Connected to cane
- Pressure pads - Force feedback

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Software

Device Specification Function

1. Planning Browser To access the internet and
Google Maps navigate using interaction
device
Software for tablet to pc connection Interaction

Haptic Pen For user interaction with PC
- Speech to Text plug in - Command prompt

2. Implementation Ultra Cane For navigating the streets
- GPS navigation maps - Route navigation
- Bluetooth - Sync with PC

Wearable pressure jacket For realistic haptic feedback

7. CONCLUSION

Haptics open up a possibility for navigation to be novel and cognitively lighter. Haptic navigation has lots
of potential, both in virtual environments and in real world. The benefits it offers for special needs and
for all others are large. Yet, more research and development is needed, so haptic navigation could be
more commonly used. Currently, haptics can be one element used in navigational devices, together with
other modalities. Perhaps also in the future there is need to use several modalities in communication
between the user and navigation device – after all, as the users are multimodal, should the device be
also.

Through the process of this coursework an in-depth knowledge was obtained of the different

considerations that need to be heeded while designing for the visually impaired and the importance of

following a self-iterative design process in order to develop a feasible and realistic design concept.

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REFERECES

Adolph, K., Eppler, M., Gibson, E. 1993, "Crawling versus Walking Infants" Perception of Affordances for
Locomotion over Sloping Surfaces", Child Development, Vol. 64, No. 4, pp. 1158-1174.

Amemiya, T., Ando, H. And Maeda, T., 2008. Lead-me interface for a pulling sensation from hand-held
devices. ACM Trans.Appl.Percept., 5(3), pp. 1-17.

Amemiya, T. And Sugiyama, H., 2008. Design of a Haptic Direction Indicator for Visually Impaired People in
Emergency Situations. Computers Helping People with Special Needs. Springer, pp. 1141-1144.

Benyus, J. (1997) Biomimicry: Innovation Inspired by Nature.William Morrow.

G. Jansson and P. Pedersen. Obtaining geographical information from a virtual map with a haptic mouse. In
Proceedings of XXII International Cartographic Conference (ICC2005), 9-16 July, A Coruna, 2005, Spain.

Klatzky, R.L., & Lederman, S.J. (1999). Tactile roughness perception with a rigid link interposed between skin
and surface. Perception & Psychophysics, 61. 591-607.

Klatzky, R.L., & Lederman, S.J.(2002). Perceiving texture through a probe. In M.I., McLaughlin,
J.P.Hespanha, & G.S. Sukhatme (Eds.), Touch in virtual environments (pp. 180-193). Upper Saddle River, NJ:
Prentice-Hall.

M. Rice, R.D. Jacobson, R.G. Golledge, and D. Jones. Design Considerations for Haptic and Auditory Map
Interfaces. Cartography and Geographic Information Society, 2005.

OED, Oxford English Dictionary 2008 - last update [Homepage of Oxford University Press], [Online].
Available: http://dictionary.oed.com/ [9/25, 2008].

R.G. Golledge, M. Rice, and R.D. Jacobson. A Commentary on the Use of Touch for Accessing On-Screen
Spatial Representations: The Process of Experiencing Haptic Maps and Graphics. The Professional
Geographer, 57(3):339–349, 2005.

Takeno, M. (1999), Appearance of Magnetism 3, Experiment of shape using magnetic fluid, FORMA, 14(4),
363-364.

Taylor, M.M., Lederman, S.J. & Gibson, R.H., (1973) Tactual Perception of Texture, In Carterette, E. &
Friedman, M. (Eds.), Handbook of Perception. Vol. III. New York: Academic Press, pp. 251-272.

WANG, C. and O’FRIEL, K., MOMO: a haptic navigation device. Available: http://momobots.com/ [9/22,
2008].

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