This work introduces the Haply 2diy, a low-cost, grounded force feedback haptic device. This device is designed to provide handson laboratory experience for multimodal design by including the typically elusive sense of touch. The Haply 2diy is a two-degree-offreedom kinesthetic haptic device that allows the user to feel forces when moving in the workspace. The 2diy consists of two motors with encoders, a capstan transmission with a 3D-printed four-link mechanism, an aluminum platform, and a custom Arduino-based controller board. In this demonstration, conference attendees will be able to interact with the device and experience force feedback effects in various interaction demonstrations.
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