@article {PezentTRO2022, title = {Design, Control, and Psychophysics of Tasbi: A Force-Controlled Multimodal Haptic Bracelet}, journal = {IEEE Transactions on Robotics}, volume = {38}, number = {5}, year = {2022}, pages = {2962-2978}, doi = {10.1109/TRO.2022.3164840}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/IEEE_TRO_2022_Pezent_Tasbi.pdf}, author = {Pezent, Evan and Agarwal, Priyanshu and Hartcher-O{\textquoteright}Brien, Jessica and Colonnese, Nicholas and O{\textquoteright}Malley, Marcia K.} }