Difference in Haptic Softness Estimation using Pressing and Pinching Binyue Gao, Jiajia Yang, Yinghua Yu, Satoshi Takahashi, Yoshimichi Ejima and Jinglong Wu BIO Web Conf., 60 (2023) 02006 Published online: 11 May 2023 DOI: 10.1051/bioconf/20236002006