“…Prior work enabled devices capable of changing their softness, e.g., through jamming [20,80]. Adding a jamming layer on top of an existing shape-changing device such as LayerPump [28], dynamically changeable buttons [32,40], the infatable hemispherical display [83], PneUI [97], AirPinch [33], MultiJam [96], Pneumatic Auxetics [16], StringTouch [73], or PneuSeries [8], allows building devices providing haptic feedback through both softness and shape. The jamming layer can follow the shape of the shape-changing device, thanks to its malleability prior to jamming [80,97].…”