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LinkRing is a novel wearable tactile display for providing multi-contact andmulti-modal stimuli at the finger. The system of two five-bar linkagemechanisms is designed to operate with two independent contact points, whichcombined can provide such stimulation as shear force and twist stimuli,slippage, and pressure. The proposed display has a lightweight and easy to wearstructure. Two experiments were carried out in order to determine thesensitivity of the finger surface, the first one aimed to determine thelocation of the contact points, and the other for discrimination the slippagewith varying rates. The results of the experiments showed a high level ofpattern recognition.

LinkRing: A Wearable Haptic Display for Delivering Multi-contact and Multi-modal Stimuli at the Finger Pads