“…Binary feedback is not continuously provided but is triggered by specific events such as an alarm or event-cue related information (Ferris and Sarter, 2011 ; Galambos, 2012 ; Kaul and Rohs, 2017 ). The vibration intensity can be constant or may vary according to the event (Cobus et al, 2018 ). Continuous vibrotactile stimulation is used to convey various types of information to the users, including: (1) state feedback, encoding position and/or velocity of limbs (Ferris and Sarter, 2011 ; Krueger et al, 2017 ; Shah et al, 2018 ; Risi et al, 2019 ), (2) force feedback, encoding the amount of force exerted (Ahmaniemi, 2012 ), and (3) error feedback, encoding information regarding the goal of the task and the state of the end-effector (Wall et al, 2001 ; Cuppone et al, 2016 ; Krueger et al, 2017 ).…”