Tactile and Chemical Sensing With Haptic Feedback for a Telepresence Explosive Ordnance Disposal Robot. - Chenxi Xiao; Aaron Benjamin Woeppel; Gina M. Clepper; Shengjie Gao; Shujia Xu; Johannes F. Rueschen; Daniel Kruse; Wenzhuo Wu; Hong Z. Tan; Thomas Low; Stephen P. Beaudoin; Bryan W. Boudouris; et al. (IEEE Trans. Robotics, 2023)