# A Three Revolute-Revolute-Spherical Wearable Fingertip Cutaneous Device for Stiffness Rendering

> Research article (IEEE Transactions on Haptics, 2017) · cited 80× · AI/ML

**Wikidata**: [openalex:W2758511764](https://www.wikidata.org/wiki/openalex:W2758511764)  
**Source**: https://4ort.xyz/entity/a-three-revolute-revolute-spherical-wearable-fingertip-cutaneous-device-for-stiffness-rendering