Savioz, G.Markovic, M.Perriard, Y.2011-06-292011-06-292011-06-29201110.1109/ICEMS.2011.6073855https://infoscience.epfl.ch/handle/20.500.14299/69075Towards multi-fingered haptic devices: a computer keyboard with adjustable force feedbacktext::conference output::conference proceedings::conference paper