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For gesture-based human-robot teaming interfaces, gesture ambiguity increases as the tasks get
complicated, whereas touch interaction is unambiguous and comfortable to use for extended periods
(Xiao, Schwarz, Throm, Wilson, & Benko, 2018). The development of commercial RGB-D sensors
increase the prospect of converting these ordinary surfaces into touchable…
https://www.wichita.edu/_archive/services/mcnair/Journals/Volume27Journal21-22.pdf