Haptic communication between humans is tuned by the hard or soft mechanics of interaction

• Atsushi Takagi ,

  Roles Conceptualization, Data curation, Formal analysis, Methodology, Software, Validation, Visualization, Writing – original draft, Writing – review & editing

  * E-mail: takagi.a.ae@m.titech.ac.jp (AT); e.burdet@imperial.ac.uk (EB)

  Affiliations Institute of Innovative Research, Tokyo Institute of Technology, Yokohama, Japan, Department of Bioengineering, Imperial College of Science, Technology and Medicine, South Kensington, London, United Kingdom

  http://orcid.org/0000-0003-4733-7471

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• Francesco Usai,

  Roles Data curation, Formal analysis, Writing – review & editing

  Affiliations Department of Informatics, Bioengineering, Robotics and Systems Engineering, Università degli studi di Genova, Genova, Italy, Department of Psychology and Neuroscience, Dalhousie University, Halifax (NS), Canada

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• Gowrishankar Ganesh,

  Roles Conceptualization, Methodology, Writing – review & editing

  Affiliation CNRS-AIST JRL (Joint Robotics Laboratory), UMI3218/RL, Umezono, Tsukuba, Ibaraki, Japan

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• Vittorio Sanguineti,

  Roles Writing – review & editing

  Affiliation Department of Informatics, Bioengineering, Robotics and Systems Engineering, Università degli studi di Genova, Genova, Italy

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• Etienne Burdet

  Roles Conceptualization, Funding acquisition, Methodology, Supervision, Validation, Visualization, Writing – review & editing

  * E-mail: takagi.a.ae@m.titech.ac.jp (AT); e.burdet@imperial.ac.uk (EB)

  Affiliation Department of Bioengineering, Imperial College of Science, Technology and Medicine, South Kensington, London, United Kingdom

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