https://fis.tu-dresden.de/portal/en/publications/evaluating-kinesthetic-feedback-and-its-audiotactile-extension-for-virtual-shape-and-object-identification(468828e7-7c1e-43fc-9a9c-8920cc294850).html
Evaluating Kinesthetic Feedback and Its Audio-tactile Extension for Virtual Shape and Object...
audio tactile