Representing Fine Texture of Pencil Hardness by High-Frequency Vibrotactile Equivalence Conversion Using Ultra-Thin PZT-MEMS Vibrators. - Masamune Waga; Toru Matsubara; Masashi Konyo; Toshihiro Takeshita; Yusuke Takei; Takeshi Kobayashi; Satoshi Tadokoro (IEEE Trans. Haptics, 2024)