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Winfield, L., J. Glassmire, J. E. Colgate, and M. A. Peshkin, "T-pad: Tactile pattern display through variable friction reduction", EuroHaptics Conference, 2007 and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics 2007. Second Joint: IEEE, pp. 421–426, 2007.