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ThermoCaress is a haptic device to create a stroking sensation on the forearm using pressure force and present thermal feedback simultaneously.
Yuhu Liu, Satoshi Nishikawa, Young ah Seong, Ryuma Niiyama and Yasuo Kuniyoshi. ThermoCaress: A Wearable Haptic Device with Illusory Moving Thermal Stimulation, InProceedings of the 2021 CHI Conference on Human Factors in Computing Systems (CHI '21), May 8--13, 2021, Yokohama, Japan. [doi]