I've worked with Sensable Phantoms and various other haptic devices and I've never heard of this kind of thing. Interesting that it does occur at all. I've se

I've worked with Sensable Phantoms and various other haptic devices and I've never heard of this kind of thing. Interesting that it does occur at all. I've seen papers done using these kinds of haptic systems combined with co-located graphics where the graphics and haptic systems displayed different information. What they found was just how dominant the visual system is and how haptic and proprioceptive were definitely secondary. With a deformable surface you can make the graphics deform more than the haptic surface and people will think it's softer.