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W. M. Bergmann Tiest and A. M. I. Kappers, “Analysis of Haptic Perception of Materials by Multidimensional Scaling and Physical Measurements of Roughness and Compressibility,” Acta Psychologica, Vol. 121, No. 1, 2006, pp. 1-20. doi:10.1016/j.actpsy.2005.04.005

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