This system makes use of the discovery that squashing and rolling the sensitive pads on the ends of a person's index finger and thumb can give a realistic impression of weight.
http://www.star.t.u-tokyo.ac.jp/~tachi/bib/paper/2006_Haptic%20Interface%20for%20Middle%20Phalanx%20Using%20Dual%20Motors.pdf
http://www.u-tokyo.ac.jp/index_e.html
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