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Does iOS SDK provide framework or API for us to use their Custom Gesture creation?

Peter Hosey
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There is no public API for either accessing the existing Assistive Touch feature (it has to be turned on by the user in the settings) or for creating a similar UI.

Rohit
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No. You can find a list of accessibility features for which APIs exist here. Assistive touch is not one of them.

Max von Hippel
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