We describe the WHaT, a wireless device for haptic texture measurement and interaction. The WHaT is designed for simultaneously measuring contact force and acceleration in a hand-held probe. The probe is small and can be comfortably held, like a pen. It transmits contact measurements to a host computer over a wireless link, with low latency. We discuss the design and initial evaluation of the device.
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Pai et al. (2003) studied this question.
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