fig3

Figure 3. An example of both cutaneous and kinesthetic feedback devices^[19]. (A) hRing, which utilizes skin stretch to provide feedback; (B) TacTiles, which apply pressure using electromagnetic brakes; (C) LucidVR, which uses string-based actuators for tactile sensations; and (D) ExoTen, which employs McKibben-based artificial muscles for kinesthetic feedback^[19].