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Kinematic analysis shows that the drive wheel angles and their contact locations with the ball must be carefully selected in order to accurately control the axis of rotation and speed of the ball. However, psychophysical experiments indicate that some kinematic error is tolerable; errors of up to 20\u00b0 in slip angle and 30% of a nominal velocity may be applied without detection from an average user. The lightweight, modular tactile display was attached to a multi-degree-of-freedom kinesthetic interface and used to display virtual environments with slip. Experimental results demonstrate that users complete a virtual paper manipulation task with lower applied forces using combined slip and force feedback in comparison with conventional force feedback alone.<\/jats:p>","DOI":"10.1145\/1060581.1060588","type":"journal-article","created":{"date-parts":[[2005,8,1]],"date-time":"2005-08-01T17:33:57Z","timestamp":1122917637000},"page":"150-165","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":72,"title":["A novel two-dimensional tactile slip display: design, kinematics and perceptual experiments"],"prefix":"10.1145","volume":"2","author":[{"suffix":"III","given":"Robert J.","family":"Webster","sequence":"first","affiliation":[{"name":"Johns Hopkins University, Baltimore, MD"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Todd E.","family":"Murphy","sequence":"additional","affiliation":[{"name":"Johns Hopkins University, Baltimore, MD"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Lawton N.","family":"Verner","sequence":"additional","affiliation":[{"name":"Johns Hopkins University, Baltimore, MD"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Allison M.","family":"Okamura","sequence":"additional","affiliation":[{"name":"Johns Hopkins University, Baltimore, MD"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"320","published-online":{"date-parts":[[2005,4]]},"reference":[{"key":"e_1_2_1_1_1","volume-title":"IEEE International Conference on Robotics and Automation","volume":"1","author":"Bicchi A.","unstructured":"Bicchi , A. , Salisbury , J. 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