TY - JOUR T1 - Design, Control, and Psychophysics of Tasbi: A Force-Controlled Multimodal Haptic Bracelet JF - IEEE Transactions on Robotics Y1 - 2022 A1 - Pezent, Evan A1 - Agarwal, Priyanshu A1 - Hartcher-O’Brien, Jessica A1 - Colonnese, Nicholas A1 - O’Malley, Marcia K. VL - 38 ER -