Pneumatic Concave Deformable Device and Finger Deformation-Based Evaluation for Hardness Perception. - Kentaro Yoshida; Hiroshi Suzuki; Hironobu Abe; Akira Ono; Hiroto Kawaguchi; Masahiro Sato; Yota Komoriya; Kazunobu Ohkuri (WHC, 2021)