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About this paper
MacKenzie C. Harnett, Rebecca F. Friesen
The authors compare two ways to encode three-dimensional shapes for touch-only reconstruction: height maps assign discrete heights across a grid, while binary layers combine successive two-state maps into a shape. In a study, participants achieved high accuracy with both. For binary layers, pin-array assembly was faster than friction modulation (p = 0.029), but accuracy was near ceiling and not statistically tested.
Summary by alphaXiv.
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