Spatial haptic interfaces have been around for 20 years. Yet, few affordable devices have been produced, and the design space in terms of physical workspace and haptic fidelity of devices that have been produced are limited and discrete. In this paper, an open-source, open-hardware module-based kit is presented that allows an interaction designer with little electro-mechanical experience to manufacture and assemble a fully working spatial haptic interface. It also allows for modification in shape and size as well as tuning of parameters to fit a particular task or application. Results from an evaluation showed that the haptic quality of the WoodenHaptics device was on par with a Phantom Desktop and that a novice could assemble it with guidance in a normal office space. This open source starting kit, uploaded free-to-download online, affords sketching in hardware; it unsticks the hardware from being a highly-specialized and esoteric craft to being an accessible and user-friendly technology, while maintaining the feel of high-fidelity haptics.
['Jonas Forsslund', 'Michael C. Yip', 'Eva-Lotta Sallnäs']
WoodenHaptics: A Starting Kit for Crafting Force-Reflecting Spatial Haptic Devices