For this work, we developed a wearable skin deformation device that is worn on the tip of the finger. The devices have two separate components, the first of which is a finger grounding interface that straps to the medial phalanx. The interface holds a magnetic tracking sensor from an Ascension 3D Guidance trakSTAR system, which provides tracking information about the position and orientation of the fingers in free space at 200 Hz.
Schorr, Samuel, "Skin Deformation Feedback for Force Sensory Substitution in Teleoperation and Virtual Reality Training" (2017). Link Foundation Modeling, Simulation and Training Fellowship Reports. 36.