Diagram and photos of the final haptic interface. Panel A: Diagram of the mechanism driving the haptic sensation; E) Arduino, F) cooling fan, G) transistor, H) power cable to motor, I) motor (hidden) to drive crank, J) crank and slider, K) syringe pump that drives the inflation and deflation of the interface. Panel B: Photos of the interface front and back. Panel C: Inner parts of the interface; L) access zip, M) delrin casing for pneumatic chamber, N) smooth fabric to reduce audible friction, O) pneumatic chamber. Panel D: Photo of the interface being held in a home environment.