Sensory substitution is an effective approach for displaying stable haptic feedback to a teleoperator under time delay. The finger is highly articulated, and can sense movement and force in many directions, making it a promising location for sensory substitution based on kinesthetic feedback. However, existing finger kinesthetic devices either provide only one-degree-of-freedom feedback, are bulky, or have low force output. Soft pneumatic actuators have high power density, making them suitable for realizing high force kinesthetic feedback in a compact form factor. We present a soft pneumatic handheld kinesthetic feedback device for the index finger that is controlled using a constant curvature kinematic model. \changed{It has respective position and force ranges of +-3.18mm and +-1.00N laterally, and +-4.89mm and +-6.01N vertically, indicating its high power density and compactness. The average open-loop radial position and force accuracy of the kinematic model are 0.72mm and 0.34N.} Its 3Hz bandwidth makes it suitable for moderate speed haptic interactions in soft environments. We demonstrate the three-dimensional kinesthetic force feedback capability of our device for sensory substitution at the index figure in a virtual telemanipulation scenario.

Users often fail to formulate their complex information needs in a single query. As a consequence, they may need to scan multiple result pages or reformulate their queries, which may be a frustrating experience. Alternatively, systems can improve user satisfaction by proactively asking questions of the users to clarify their information needs. Asking clarifying questions is especially important in conversational systems since they can only return a limited number of (often only one) result(s). In this paper, we formulate the task of asking clarifying questions in open-domain information-seeking conversational systems. To this end, we propose an offline evaluation methodology for the task and collect a dataset, called Qulac, through crowdsourcing. Our dataset is built on top of the TREC Web Track 2009-2012 data and consists of over 10K question-answer pairs for 198 TREC topics with 762 facets. Our experiments on an oracle model demonstrate that asking only one good question leads to over 170% retrieval performance improvement in terms of P@1, which clearly demonstrates the potential impact of the task. We further propose a retrieval framework consisting of three components: question retrieval, question selection, and document retrieval. In particular, our question selection model takes into account the original query and previous question-answer interactions while selecting the next question. Our model significantly outperforms competitive baselines. To foster research in this area, we have made Qulac publicly available.