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Touchbugs : actuated tangibles on multi-touch tables:

, In: Proceedings of the SIGCHI Conference on Human Factors in Computing Systems,
Nowacka, Diana ; Ladha, Karim ; Hammerla, Nils Y.... - p. 759-762 , 2013
Link: https://dl.acm.org/doi/10.1145/2470654.2470761