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These results can provide design guidelines for haptic grippers that elicit natural grasping in virtual and bilateral teleoperation applications.A person's behavior significantly influences their health and well-being. It also contributes to the social environment in which humans interact, with cascading impacts to the health and behaviors of others. During social interactions, our understanding and awareness of vital nonverbal messages expressing beliefs, emotions, and intentions can be obstructed by a variety of factors including great