Gallo, SimonRognini, GiulioBützer, Tobias Lukas2017-05-112017-05-112017-05-112016https://infoscience.epfl.ch/handle/20.500.14299/137261A multimodal haptic device operating as a closed-loop system, the device including a pipeline configured to allow a closed-loop flow of a fluid medium, a manifold operatively connected to the pipeline, the manifold having a pump and a valve to control and regulate a flow of the fluid medium along the pipeline, and a display unit operatively connected to the pipeline, the display unit having a tactile display and a valve operatively connected to the tactile display for regulating an efflux of the fluid medium from the tactile display into the pipeline.patentUS9703381US201623804056622343