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Our main finding is that the most efficient training approach is to use haptic rendering of contact in combination with visual animation-based guidance. Continuous forces, nudging, anti-forces and motion indicator cues were measured to be less effective.Previous research has shown evidence of tactile speech acquisition of up to 500 English words presented as tactile phonemic patterns using a 4-by-6 tactor array worn on the forearm. The present paper describes modifications to some of the tactile codes encoding the 39 English phonemes, and
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