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In this paper we describe Sprout I/O, a novel haptic interface for tactile and visual communication. Sprout I/O combines textiles and shape-memory alloys to create a soft and kinetic membrane with truly co-located input and output. We describe implementation details, the affordances made possible by the use of smart materials in human computer interaction and possible applications for this technology.
Coelho et al. (Mon,) studied this question.