free idea: a silicone putty with sensors in it that can harden as whatever controller you want
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add a number of vibration motors and you also have force feedback, let it not harden at all and you have a screen but for hands
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actually due to [dayjob] I am mildly experienced in this area and could totally make it work
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would need a competent EE person for wireless power and miniaturization of the nodules, and idk if there's a putty that's up to spec
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