Perceiving texture gradients on an electrostatic friction display. - Roberta L. Klatzky; Sara Adkins; Prachi Bodas; Reza Haghighi Osgouei; Seungmoon Choi; Hong Z. Tan (WHC, 2017)

Roughness rendering by sinusoidal friction modulation: Perceived intensity and gradient discrimination. - Prachi Bodas; Rebecca Fenton Friesen; Amukta Nayak; Hong Z. Tan; Roberta L. Klatzky (WHC, 2019)