Here we present some of the research we have done, and other publications related to our products.


Forsslund, Jonas (2016) Preparing Spatial Haptics for Interaction Design, PhD thesis, KTH Royal Institute of Technology. Library Record

This thesis cover work in design research where making new hardware and software for 3D haptic interaction is central. It is shown how haptic technology can be, andto some degree has to be, prepared for doing effective interaction design. 

It covers the design of early versions of the products WoodenHaptics and Kobra


Jordi Solsona Belenguer, Jonas Forsslund, Ellinore Seybolt, and Alexander Jonsson (2017)
WoodenHaptics 1.5 featuring USB and vintage device support, IEEE World Haptics Demo

WoodenHaptics was first presented at the ACM TEI conference 2015 as a module-based open source hardware spatial haptic device. In this demo an updated version is shown featuring the new full USB support making it feasible to use it with a standard laptop and a consumer power supply. This demo will feature three haptic devices that will use the same modular electronics box that we have designed. First, the open-source WoodenHaptics device that is designed for modification in shape and size as well as tuning of parameters to fit a particular task or application. Second, a compact work-in-progress aluminum-based device that has embedded the electronics inside. And finally we show how the vintage Phantom Premium haptic device can be given USB-support using just two additional passive adapters and our electronics box. 

See video to the left!


Flodin, Martin (2009), The importance of shading in volume rendered visualization in a multimodal simulator for operative extraction of wisdom teeth, Master's thesis, KTH Royal Institute of Technology, Library record (in Swedish)

The aim of this thesis was to investigate the importance shading has on the perception of depth in a multimodal simulator for operative extraction of wisdom teeth. The simulator uses both haptics and stereo graphics to convey information about depth. The problem formulated in the thesis was to investigate the necessity of using shading, which is quite demanding computationally, or if a simpler type of rendering would suffice.


Solsona Belenguer, Jordi (2015) Engineering through Designerly Conversations with the Digital Material: The Approach, the Tools and the Design Space, PhD thesis, KTH Royal Institute of Technology. Library record.

This thesis results in providing an engineering design approach that is instantiated and materialized through hardware and software tools. The first tool, Inspirational Bits, is an approach where bits and pieces of technology are revealed to a multidisciplinary design team in a playful manner, exposing them to the interactive, dynamic properties of digital materials. The second tool, the rFlea, is an Arduino-based board, with an inbuilt ultra-low power wireless connection, the size of a coin cell battery. rFlea can connect wirelessly to another rFlea or existing tablets and mobile phones by means of pre-made libraries. The third tool, Insbits Studio is a cloud-based visual programming platform that can connect to the rFlea, adding cloud services abilities and connections to Internet of Things products and services. Together these three tools point to a novel philosophy of how to approach engineering. Instead of solving a given problem, engineers must open the design space and expose the material properties and affordances in such a manner that the team can experience them in the early phases of a design project.


Udvardy, Zoltán (2017) Design of a Testbed for Haptic Devices Used by Surgical Simulators, MSc Thesis, KTH Royal Institute of Technology. Library record

This thesis shows the design of a testbed that is capable of measuring the precision of output forces within the haptic devices’ workspace. With the testbed, a set of measurements can be run on different haptic devices, giving as a result a better knowledge of the utilized device. This knowledge aids the design of more precise and realistic surgery simulations.