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FIGURE 23.12 Cross-section of the human glabrous (a) and hairy (b) skin showing various haptic receptors. (Adapted
fromKruger,L.eds.,Handbook of Perception and Cognition: Pain and Touch, 2nd edn., Academic Press, New York, 1996.
With permission.)
the most promising areas for applying tactile feedback such as the fingertips or lips. However, since it is
often not feasible to use these regions for tactile displays in real-world environments where tactile devices
could interfere with the performance of communication or manipulation tasks, designers need to make
trade-off decisions.
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