# Three-Dimensional Skin Deformation as Force Substitution: Wearable Device Design and Performance During Haptic Exploration of Virtual Environments

> Research article (IEEE Transactions on Haptics, 2017) · cited 120× · AI/ML

**Wikidata**: [openalex:W2590282156](https://www.wikidata.org/wiki/openalex:W2590282156)  
**Source**: https://4ort.xyz/entity/three-dimensional-skin-deformation-as-force-substitution-wearable-device-design-and-performance-during-haptic-exploratio