HapSense: A Soft Haptic I/O Device with Uninterrupted Dual Functionalities of Force Sensing and Vibrotactile Actuation. - Sang Ho Yoon; Siyuan Ma; Woo Suk Lee; Shantanu Thakurdesai; Di Sun; Flavio P. Ribeiro; James D. Holbery (UIST, 2019)