Paik, JamieZuliani, Fabio2023-08-142023-08-142023-08-142023https://infoscience.epfl.ch/handle/20.500.14299/199898A force-feedback surface that creates and modulates distinctive profile and stiffnessto interact with a user in contact thereto, the surface being functionally independentto be used as a single module but can be customized to extend the application indiverse fields by assembling in series, parallel, or any combinations to form amultimodular system.patentWO202313549385172555