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Haptic technology enables systems to interact has been proposed for applications across a wide variety of domains. The cost prohibitive nature of most haptic devices however remains a contributing factor in preventing widespread real-world implementation. While some low-cost commercial-off-theshelf haptic devices have been introduced, they do not provide the range of capabilities required by many applications. One solution to achieving the capability required using these devices is through thedoi:10.12720/ijeee.2.2.85-89 fatcat:bcavaejfzradnptyef4pwfynqe