HapTag: A Compact Actuator for Rendering Push-Button Tactility on Soft Surfaces. - Chen, Yanjun; Liang, Xuewei; Chen, Si; Chen, Yuwen; Lin, Hongnan; Zhang, Hechuan; Jiang, Chutian; Tian, Feng; Zhang, Yu; Yao, Shanshan; Han, Teng (2022)