E.  Battaglia, Clark, J. P., Bianchi, M., Catalano, M. G., Bicchi, A., and O'Malley, M. K., ?The Rice Haptic Rocker: skin stretch haptic feedback with the Pisa/IIT SoftHand ?, in IEEE World Haptics Conference, Fürstenfeldbruck (Munich), Germany, June 6-9, 2017, 2017.