ShiverPad: A device capable of controlling shear force on a bare finger. - Erik C. Chubb; J. Edward Colgate; Michael A. Peshkin (WHC, 2009)

ShiverPaD: A Glass Haptic Surface That Produces Shear Force on a Bare Finger. - Erik C. Chubb; J. Edward Colgate; Michael A. Peshkin (IEEE Trans. Haptics, 2010)