The iPad has multi-touch gestures:
Is it possible to customize these gestures? If so, how?
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If you're talking about customizing the way you invoke these gestures, I think your only option (without jail-breaking) is to make it so that instead of having to perform these gestures, you tap a few buttons. Apple calls this feature AssistiveTouch.
For example, if you want to exit an app by using AssistiveTouch rather than performing the normal gesture, do both of the following:
To create a new gesture (do this one time for each gesture):
To use the gesture:
It's not that practical, since you end up having to tap 4 buttons instead of performing a single four-finger gesture, but it's an option in case anyone needs it.
Tip: if you don't want the AssistiveTouch button always visible, in the Accessibility page, you can set it to appear and disappear by triple-tapping the home button.