# A 4-Degree-of-Freedom Parallel Origami Haptic Device for Normal, Shear, and Torsion Feedback

> Research article (IEEE Robotics and Automation Letters, 2022) · cited 25× · AI/ML

**Wikidata**: [openalex:W4210468288](https://www.wikidata.org/wiki/openalex:W4210468288)  
**Source**: https://4ort.xyz/entity/a-4-degree-of-freedom-parallel-origami-haptic-device-for-normal-shear-and-torsion-feedback