The DOI matches its Crossref record; 26 of the 26 references it cites were found in a registry or an index.
Haptic Guidance Can Enhance Motor Learning of a Steering Task
Abstract
Haptic guidance can improve the immediate performance of a motor task by enforcing a desired pattern of kinematics, but several studies have found that it impairs motor learning. In this study, we studied whether guidance from a robotic steering wheel can improve one's short-term learning of steering a simulated vehicle. We developed a computer algorithm that adapted the firmness of the guidance based on ongoing error. Training with "guidance-as-needed" or "fixed guidance" allowed participants to learn to steer without experiencing large errors and produced slightly better immediate retention than did training without guidance, apparently because participants were better able to learn when to initiate turns. Training with guidance-as-needed produced slightly better results than training with fixed guidance: the guidance-as-needed participants' errors were significantly smaller when guidance was removed. However, this difference quickly dissipated with more practice. We conclude that haptic guidance can benefit short-term learning of a steering-type task while also limiting performance errors during training.
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In the citing paper
“for example, controller stiffness can be adapted in response to the user's current performance and need, which has already been done (see Krebs et al., 2003;Marchal-Crespo & Reinkensmeyer, 2008b).”
From Augmented visual, auditory, haptic, and multimodal feedback in motor learning: A review (2013) · cites this paper as Marchal-Crespo & Reinkensmeyer, 2008b
In the citing paper
“For instance, haptic guidance enhanced motor learning in a steering task (Marchal-Crespo & Reinkensmeyer, 2008b) and motor adaption in wheelchair driving (Marchal-Crespo et al., 2010).”
From Augmented visual, auditory, haptic, and multimodal feedback in motor learning: A review (2013) · cites this paper as Marchal-Crespo & Reinkensmeyer, 2008b
In the citing paper
“In the steering task, haptic guidance was shown to outperform the condition without haptic guidance significantly in terms of driving accuracy.”
From Augmented visual, auditory, haptic, and multimodal feedback in motor learning: A review (2013) · cites this paper as Marchal-Crespo & Reinkensmeyer, 2008b
In the citing paper
“This hypothesis seems further to be supported by the results from the steering and the wheelchair experiments described above (Marchal-Crespo et al., 2010;Marchal-Crespo & Reinkensmeyer, 2008b).”
From Augmented visual, auditory, haptic, and multimodal feedback in motor learning: A review (2013) · cites this paper as Marchal-Crespo & Reinkensmeyer, 2008b
Citations
Cites
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“One possible reason for these negative results is that guidance disrupts motor learning because the user learns to rely on the guidance and fails to learn the motor commands required to perform the desired task unassisted (Schmidt & Bjork, 1992).”
BackgroundResultGuadagnoli, M. A., & Lee, T. D. (2004) · Journal of Motor Behavior · doi:10.3200/jmbr.36.2.212-224 · Cited by 1,534 · cited 2×
“Thus, it appears that the motor system requires a particular level of challenge to learn well (Guadagnoli & Lee, 2004), and haptic guidance, frequent KR, and blocked practice typically decrease challenge and thereby impair learning.”
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Items 101–166 of 166
Movement Strategy Discovery during Training via Haptic Guidance
Gibo, T. L., & Abbink, D. A. (2016) · IEEE Transactions on Haptics · doi:10.1109/toh.2016.2516984 · Cited by 8
“in response to user performance [8], [18], [19].”
BackgroundInfluentialCircles on pommel horse with a suspended aid: Influence of expertise
Fujihara, T., & Gervais, P. (2012) · Journal of Sports Sciences · doi:10.1080/02640414.2012.658843 · Cited by 8
Vibrotactile guidance for drumming learning: Method and perceptual assessment
Lee, I., & Choi, S. (2014) · IEEE Haptics Symposium · doi:10.1109/haptics.2014.6775447 · Cited by 7
“Approaches to improve upon these problems include progressive haptic guidance, which adaptively controls the intensity or frequency of guidance stimuli depending on the learner’s performance [8, 3], and haptic disturbance, which makes the task more challenging in order to prompt the learner to pay more attention to tr…”
BackgroundLi, A., Minto, R., Dölling, M., Boschetti, G., & Zanotto, D. (2025) · IEEE Transactions on Neural Systems and Rehabilitation Engineering · doi:10.1109/tnsre.2025.3650096 · Cited by 6
“This fading assistance has positive e ff ects in terms of motor learning [39].”
Self-Control of Haptic Assistance for Motor Learning: Influences of Frequency and Opinion of Utility
Williams, C. K., Tseung, V., & Carnahan, H. (2017) · Frontiers in Psychology · doi:10.3389/fpsyg.2017.02082 · Cited by 6
“…assistance was shown to produce learning benefits in comparison to a control group (Marchal-Crespo et al., 2010) but other studies have failed to demonstrate learning benefits in relation to a group that received haptic assistance on all acquisition trials (Marchal-Crespo and Reinkensmeyer, 2008).”
ResultThe Role of Haptic Interactions with Robots for Promoting Motor Learning
Beckers, N., & Marchal–Crespo, L. (2022) · Springer eBooks · doi:10.1007/978-3-031-08995-4_12 · Cited by 6
Human-centered Steer-by-Wire design: Steering wheel dynamics should be task dependent
Mulder, M., Abbink, D. A., Boer, E. R., et al. (2012) · Conference proceedings/Conference proceedings - IEEE International Conference on Systems, Man, and Cybernetics · doi:10.1109/icsmc.2012.6378187 · Cited by 6
Combining Unassisted and Robot-Guided Practice Benefits Motor Learning for a Golf Putting Task
Bested, S. R., Manson, G. A., & Tremblay, L. (2019) · Journal of Motor Learning and Development · doi:10.1123/jmld.2018-0040 · Cited by 5
“…yielded “only temporary boosts to performance” (Schmidt, Lee, Winstein, Wulf, & Zelaznik, 2019; pp. 338) and suggest that other forms of guidance are preferable (partial guidance: e.g., Marchal Crespo & Reinkensmeyer, 2008b, or error-augmenting guidance: e.g., Williams, Tremblay, & Carnahan, 2016).”
BackgroundMethodInfluentialA chase-game to teach children on a robot to follow moving objects
Kang, J., Logan, S. W., Galloway, J. C., & Agrawal, S. K. (2014) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2014.6906615 · Cited by 5
““Assistas-needed” paradigm is widely used in training studies and has shown positive results with adults and children [20], [30], [31].”
BackgroundSchwab, A. L., & Recuero, A. M. (2013) · Cited by 5
A 3D printing approach toward targeted intervention in telerehabilitation
Ventura, R. B., Rizzo, A., Nov, O., et al. (2020) · Scientific Reports · doi:10.1038/s41598-020-59927-y · Cited by 5
Jafari, N., Adams, K. D., Tavakoli, M., et al. (2017) · Journal of Medical and Biological Engineering · doi:10.1007/s40846-017-0305-6 · Cited by 5
“…of haptic interfaces for use by individuals with disabilities [13] revealed that the areas most frequently studied include applications for adult wheelchair users [14, 15], adult computer users with physical impairments [16] and visual impairments [17–19], and adults who had a stroke [20].”
BackgroundVisual error amplification showed no benefit for non-naïve subjects in trunk-arm rowing
Gerig, N., Basalp, E., Sigrist, R., Riener, R., & Wolf, P. (2019) · Current Issues in Sport Science (CISS) · doi:10.15203/ciss_2018.013 · Cited by 5
“…error amplification, where gains are either adapted as a function of performance of previous repetitions and of a forgetting factor (Emken, Benitez, & Reinkensmeyer, 2007), or faded over time (Crespo & Reinkensmeyer, 2008), would fit well as an opposing concept to assist-as-need in guidance.”
BackgroundHaptic Driver Guidance for Lateral Driving Envelope Protection Using Model Predictive Control
Efremov, D., Haniš, T., & Klaučo, M. (2020) · IEEE Intelligent Vehicles Symposium · doi:10.1109/iv47402.2020.9304663 · Cited by 4
“…in the field of haptic torque interfaces has six main tasks, that can be solved: haptic torque is used for lane keeping [6], [7], lane change [6], curve negotiation [6], obstacle avoidance [7], [8], handling envelope (pre-decessor of the DE) protection [8], and driver learning [9], [10].”
BackgroundGil, G., Zemiti, N., Walker, J. M., Péchereau, F., & Poignet, P. (2022) · Mechatronics · doi:10.1016/j.mechatronics.2022.102868 · Cited by 4
“Body-grounded kinesthetic HF devices have been successfully used for training in other domains, e.g. for complex handwriting of Asian and Arabic texts [3]–[5] or car driving simulations [6], [7].”
Surgeon Training with Haptic Devices for Computer and Robot Assisted Surgery: An Experimental Study
Ovur, S. E., Cobanaj, M., Vantadori, L., et al. (2019) · World Congress on Medical Physics and Biomedical Engineering, September 7 - 12, 2009, Munich, Germany · doi:10.1007/978-3-030-31635-8_189 · Cited by 4
Training toddlers seated on mobile robots to drive indoors amidst obstacles
Chen, X., Ragonesi, C., Agrawal, S. K., & Galloway, J. C. (2010) · 2010 3rd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics · doi:10.1109/biorob.2010.5627809 · Cited by 8
“In [22], a one-dimensional force with fading strength was implemented on a steering wheel to train adults to learn a steering task.”
MethodContinuous Skin-Stretch Feedback for Rendering 3D Vector Information
Han, I., & Park, J. (2020) · IEEE Access · doi:10.1109/access.2020.3015095 · Cited by 3
Amplitude and frequency of human gait synchronization with a machine oscillator system
Schroeder, R. T., Croft, J. L., & Bertram, J. E. A. (2025) · Scientific Reports · doi:10.1038/s41598-025-85202-z · Cited by 3
“Slowly, the amplitude would be pulled back via an adaptive algorithm based on performance ( “ fading” 49 ) until the patient could manage CoM mechanics of the desired trajectory through actions of their own legs with little to no external assistance.”
Reinkensmeyer, D. J. (2011) · Springer eBooks · doi:10.1007/978-1-4471-2277-7_18 · Cited by 3
Self-citationHow to gain evidence in neurorehabilitation: a personal view
Luft, A. R. (2012) · Biomedizinische Technik/Biomedical Engineering · doi:10.1515/bmt-2011-0135 · Cited by 3
“Assistance or guidance has been shown to improve motor skill acquisition [33] but may also impair the acquisition of tasks that highly depend on error-based learning [8, 59] .”
BackgroundEvaluation of a mixed controller that amplifies spatial errors while reducing timing errors
Marchal–Crespo, L., Baumann, T., Fichmann, D., Maassen, S., Duarte, J. E., & Riener, R. (2016) · Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC) · doi:10.1109/embc.2016.7591883 · Cited by 3
Two-Stage Optimization of a Reconfigurable Asymmetric 6-DOF Haptic Robot for Task-Specific Workspace
Zhang, C., Wang, C., Miao, Q., et al. (2021) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros51168.2021.9636251 · Cited by 3
A review of recent methods and applications of virtual fixtures in robot-assisted surgery
Mohan, D. M., Shirinzadeh, B., Smith, J. A., Zhong, Y., Turlapati, S. H., & Campolo, D. (2025) · Computers in Biology and Medicine · doi:10.1016/j.compbiomed.2025.111294 · Cited by 4
Haptic guidance: Advancements, challenges, and future directions in human-computer interaction
Sirwal, S. A., Ahmad, B., & Koul, M. H. (2026) · Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science · doi:10.1177/09544062261416177 · Cited by 3
“241 Subjective evaluation includes standardized usability questionnaires like the System Usability Scale (SUS), cognitive load assessments such as NASA TLX, and structured user interviews or think-aloud protocols that provide qualitative insights into comfort, intuitiveness, and engagement.”
Haptic feedback in violin education as a case study of robotic exoskeleton-mediated motor learning
Campo, A., Peperoni, E., Capitani, S. L., Conti, R., Crea, S., Stefano, N. D., Tommaso, F. D., Giovacchini, F., Gener, C., Grazi, L., et al. (2026) · Scientific Reports · doi:10.1038/s41598-026-39226-8 · Cited by 2
“Due to the organizational demands of this type of research, many studies in this field only assessed short-term learning with recall (catch) measurements, which were interspersed among training sessions 14,16,23 , or with immediate recall measurements right after the training 19,75,76 .”
Teaching Motor Skills Without a Motor: A Semi-Passive Robot to Facilitate Learning
Augenstein, T. E., Remy, C. D., Claflin, E. S., Ranganathan, R., & Krishnan, C. (2023) · IEEE Transactions on Haptics · doi:10.1109/toh.2023.3330368 · Cited by 2
“These previous studies have found that haptic guidance only facilitates learning of timing-based tasks (e.g., when to initiate a movement) and does not improve learning of spatial variables such as accuracy [32], [35], [35], [36], [37], [38], [39], [40], [41], [42].”
BackgroundReal-time motion force-feedback system with predictive-vision for improving motor accuracy
Matsui, R., Aoyama, T., Kato, K. H., & Hasegawa, Y. (2024) · Scientific Reports · doi:10.1038/s41598-024-52811-z · Cited by 2
“Their experiments showed that haptic guidance enhanced humans’ ability to learn timing cues in their motion and that the learning effect was more effective in people with lower initial skills 3,4 .”
BackgroundThe Effects of Different Motor Teaching Strategies on Learning a Complex Motor Task
Kunavar, T., Jamšek, M., Avila-Mireles, E. J., Rueckert, E., Peternel, L., & Babič, J. (2024) · Sensors · doi:10.3390/s24041231 · Cited by 4
“Even if physical guidance has proven to be useful while learning motor skills, at least for a short period just after removing the assistance [17], the passive participation of the naïve can cause problems related to the absent or reduced sensory feedback, as well as the distorted relationship…”
BackgroundHaptic-enabled driving training system
Osgouei, R. H., Lee, H., & Choi, S. (2013) · IEEE RO-MAN · doi:10.1109/roman.2013.6628494 · Cited by 2
“In this regards, progressive haptic guidance is an advanced strategy of haptic guidance which adjusts the amount of guiding torque with respect to the trainee’s performance [7].”
BackgroundInfluence of Haptic Guidance on Arm Admittance of Driversunder Steering Perturbations
Joly, A., Shimono, K., Zheng, R., et al. (2017) · International Journal of Intelligent Transportation Systems Research · doi:10.1007/s13177-017-0148-0 · Cited by 2
“Furthermore, Crespo et al. proposed a motor learning method using haptic guidance to produce better motor learning timing for curves [15].”
MethodEffect of local-adaptive haptic guidance on a path-following task
Moon, H.-S., & Seo, J. (2017) · International Conference on Control, Automation and Systems (ICCAS) · doi:10.23919/iccas.2017.8204403 · Cited by 2
Simpson, T. G., & Rafferty, K. (2020) · Lecture notes in computer science · doi:10.1007/978-3-030-58465-8_16 · Cited by 2
“This process has been applied to a steering task [4], with promising results achieved by integrating a haptic system for a wheelchair driving simulator with an algorithm incorporated to adapt the firmness of guidance relative to on-going error, which was administered through force-feedback in the wheel.”
BackgroundMethodEXAMINING THE EFFECTS OF LEARNER-ADAPTED PRACTICE ON MOTOR SKILL ACQUISITION
Eliasz, K. L. (2011) · MacSphere (McMaster University) · doi:10.71548/14139 · Cited by 2
Dynamic tactile feedback in human computer interaction
Ahmaniemi, T. (2012) · Aaltodoc (Aalto University) · Cited by 2
Feel the Speed: Supporting Novice eVTOL Pilots in Simplified Vehicle Operations with Haptic Cues
Janetzko, D., Abdelfattah, H., Baier, J., et al. (2025) · doi:10.1109/dasc66011.2025.11257371 · Cited by 1
“Earlier research has also shown that haptic guidance can support (novice) users in executing or learning dynamic tasks (e.g., [11], [12]).”
Haptic Applications for People with Limited Motor Skills
Voutsakelis, G., Kokkonis, G., & Kontogiannis, S. I. (2020) · World Symposium on Communication Engineering (WSCE) · doi:10.1109/wsce51339.2020.9275575 · Cited by 1
“There is, however, a controversy over the benefits of haptic guidance, as it can affect the "physical standards of kinematics" required to achieve a job [32].”
BackgroundPérez‐Rodríguez, R. (2012) · doi:10.20868/upm.thesis.14737 · Cited by 1
Marchal–Crespo, L. (2009) · Bern Open Repository and Information System (University of Bern) · doi:10.7892/boris.117120 · Cited by 1
Blokkum, K. (2016) · BIBSYS Brage (BIBSYS (Norway)) · Cited by 1
LEARNING THROUGH HAPTICS: HAPTIC FEEDBACK IN SURGICAL EDUCATION
Pinzon, D. (2016) · ERA: Education and Research Archive (University of Alberta) · doi:10.7939/r3jh3dd0g · Cited by 1
Lee, H., Kim, H., & Choi, S. (2018) · arXiv (Cornell University) · Cited by 1
Modeling Human Dynamics for Powered Exoskeleton Control
Smith, A. (2019) · uO Research (University of Ottawa) · doi:10.20381/ruor-24105 · Cited by 1
Powell, D., Meade, A., & Powell, D. (2010)
From Unbiased Numerical Estimates To Unbiased Interval Estimates
Li, B., & Xiang, G. (2015) · scholarworks - UTEP (The University of Texas at El Paso) · doi:10.5281/zenodo.22466
Tani, G., de Miranda, C., Júnior, M., Ugrinowitsch, H., Benda, R. N., Chiviacowsky, S., & Corrêa, U. C. (2010)
Upper-Extremity Therapy with Spring Orthoses
Reinkensmeyer, D. J., & Zondervan, D. K. (2016) · Springer eBooks · doi:10.1007/978-3-319-28603-7_27
Self-citationAdaptive control for wearable robots in human-centered rehabilitation tasks
Rajasekaran, V. (2015) · doi:10.5821/dissertation-2117-96044 · Cited by 4
“Even though the reference trajectory generation are customised, trajectory tracking control still has some limitations such as decrease in motor learning [33, 34] due to the dynamics of the task.”
BackgroundRozenblit, J. W., Klempous, R., & Nikodem, J. (2018) · IEEE International Conference on Intelligent Engineering Systems (INES) · doi:10.1109/ines.2018.8523940
Chan, V. C. H. (2018) · TSpace (University of Toronto)
Smith, E. (2019) · cIRcle (University of British Columbia) · doi:10.14288/1.0378852
“Two studies exploring the influence of haptic guidance on learning steering tasks found that haptic guidance provided as needed had the potential to both reduce errors in the learning process, produce better motor learning outcomes than guidance provided all the time, and improve retention of steering skills over time…”
BackgroundHenriques, J. (2023) · Advances in game-based learning book series · doi:10.4018/978-1-6684-9166-9.ch010
Artificial Tactile Stimulation Provides Haptic Cuing in Force Field AdaptationPreprint
Avraham, C., Avraham, G., & Nisky, I. (2023) · bioRxiv (Cold Spring Harbor Laboratory) · doi:10.1101/2023.07.08.548191
“2011), auditory cues (Schaefer 2014), and haptic cues (Crespo et al. 2008; Grindlay 2008).”
BackgroundEffects of different verbal instructions on usage of haptic guidance
Yamaguchi, K., Akizuki, K., Yamamoto, R., Yabuki, J., & Ohashi, Y. (2023) · Cogent Psychology · doi:10.1080/23311908.2023.2245607 · Cited by 1
“For example, Marchal-Crespo and Reinkensmeyer reported that haptic guidance improved steering skill in a driving task (Marchal Crespo & Reinkensmeyer, 2008).”
BackgroundResultHumans Versus Robots: Converting Golf Putter Trajectories for Robotic Guidance
Bested, S. R., Crainic, V. A., Manson, G. A., & Tremblay, L. (2023) · Journal of Motor Learning and Development · doi:10.1123/jmld.2022-0031
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Alizadehsaravi, L., Draukšas, S., Moore, J. K., et al. (2024) · 2022 9th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob) · doi:10.1109/biorob60516.2024.10719950
“This could not be achieved by simply nudging the steer towards the on-road target, as in [12], but requires an initial countersteering, followed by steering towards the target while stabilizing.”
Background3D Directional Perception Using a Continuum Soft Robot: Toward a Novel Soft-Haptics Paradigm
Vazquez-Garcia, C.-E., Garcia-Hernandez, N. V., Parra‐Vega, V., et al. (2024) · Robotics Reports · doi:10.1089/rorep.2024.0036
Task Decomposition for Learning Advanced Driving Skills
Dallas, J., Morgan, A., Yasuda, H., Thompson, M., Chen, T., & Subosits, J. K. (2025) · Proceedings of the ... American Control Conference/Proceedings of the American Control Conference · doi:10.23919/acc63710.2025.11108058
“Autonomy has been combined with different modalities of feedback such as haptic, auditory, and visual feedback [13], [14], [15].”
Enhancing Craftsmanship: Evaluation of AR-Assisted Learning of Work Steps in Woodworking
Grüger, D., Krings, K., Hoffmann, S., Bohn, N. S., & Ludwig, T. G. (2025) · Computer Supported Cooperative Work (CSCW) · doi:10.1007/s10606-025-09532-2 · Cited by 2
Training Eye-Hand Coordination in Simulated Interception With Gaze-Informed Haptic Guidance
Gu, Y., Zhang, J., Zeng, H., et al. (2026) · IEEE Transactions on Neural Systems and Rehabilitation Engineering · doi:10.1109/tnsre.2026.3672394
“Such results align with previous findings [31], [36], [56], [57] that less-skilled participants benefit more from the performance-enhancing haptic guidance in spatiotemporally critical motor tasks.”
Leg movement guidance system using McKibben artificial muscles for kinesthetic learning
Negrete, S. B., Fujino, Y., Fujita, W., Yamasaki, K., & Shibata, T. (2026) · Advanced Robotics · doi:10.1080/01691864.2026.2657840
“This result aligns with established research in haptic guidance, which has demonstrated that physical cues can be a powerful tool for kinesthetic learning [30, 31].”
Haptic Guidance Using Electrical Muscle Stimulation for Gesture-based Mobile Robot Teleoperation
Lee, J., Noh, M., & Choi, S. (2026) · ACM Transactions on Human-Robot Interaction · doi:10.1145/3849625
Metadata
- Authors
- Crespo, L. M., & Reinkensmeyer, D. J.
- Affiliations
- Department of Mechanical and Aerospace Engineering, University of California-Irvine
- University of California, Irvine (US)
- Venue
- Journal of Motor Behavior
- Publisher
- Informa UK Limited
- Published
- 2008-11
- Volume
- 40
- Issue
- 6
- Pages
- 545-557
- ISSN
- 0022-2895 (ISSN-L)
- 1940-1027
- OpenAlex
- W1965806846
- Semantic Scholar
- 9fcdff228b0a03694d8c5f1a124218a9de44d749
- Cited by
- 166
- References
- 25
- Citations by year
- 2026: 5 · 2025: 7 · 2024: 6 · 2023: 9 · 2022: 6 · 2021: 8 · 2020: 7 · 2019: 14 · 2018: 14 · 2017: 9 · 2016: 10 · 2015: 11 · 2014: 11 · 2013: 8 · 2012: 13
- FWCI
- 4.59
- Type
- journal article
- Language
- en
- Open access
- closed
- Locations
- Journal of Motor Behavior (publishedVersion)
- PubMed (publishedVersion)
- Topics
- Life Sciences › Neuroscience › Cognitive Neuroscience › Motor Control and Adaptation
- Life Sciences › Neuroscience › Cognitive Neuroscience › Tactile and Sensory Interactions
- Physical Sciences › Engineering › Mechanical Engineering › Teleoperation and Haptic Systems
- Keywords
- haptic guidance, motor learning, steering, error feedback, retention, turn initiation, kinematic control
- MeSH terms
- Analysis of Variance, Association Learning, Automobile Driving, Computer Simulation, Humans, Kinesthesis, Motor Skills, Reference Values, Touch, Feedback, Psychological
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