Figure 1: Our interface for knit programming includes a coupled visualization that allows users to select code to see all of the knit stitches it created, and hover any knit operation to see the line of code that produced it.

Fig. 1: RobotSweater is a customizable machine-knitted multi-layer tactile skin. Left: sensor fabrication using an industrial knitting machine. Middle: an assembled tactile skin. Right: applications of our tactile skins including robot arm human lead-through control and mobile robot human-robot interaction.

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