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Other Research

This page lists other research that does not necessarily fit within the research themes but are projects either being actively pursued or those that have been completed.


Haptic Devices and Simulators


Haptics, or the sense of touch, is a very useful sensation to provide for medical training and guidance. Our interests lie in developing haptic devices for aiding in the measurement and delivery of the sensation of touch to clinicians for interventional and training procedures.


Active Projects:


  1. Measurement of Force via Vibrational Inferencing

  2. 6-DOF Haptic Device for Virtual Reality Surgical Simulation


Completed Project - WoodenHaptics

Woodenhaptics is an open-source haptic device project that has started as a general-purpose haptic device for the open-source community, and has led to several different use cases in medical simulation and beyond. The official site for Woodenhaptics is

Relevant Publications

*for most up-to-date list see PUBLICATIONS

(last updated Dec 2017)

M. Yip and J. Forsslund, “Spurring Innovation in Spatial Haptics: How Open-Source Hardware Can Turn Creativity Loose.” IEEE Robotics and Automation Magazine, 9 pages. In Press. On IEEE RAM March 2017 Cover. 


J. Forsslund, M. Yip and E-L. Sallnas, “WoodenHaptics: A Starting Kit for Crafting Force-Reflecting Spatial Haptic Devices.” Proceedings of the Ninth International Conference on Tangible, Embedded, and Embodied Interaction - TEI2015. pp. 133-140. ACM, 2015.


M. Yip, S. Yuen and R. Howe. “A Robust Uniaxial Force Sensor for Minimally Invasive Surgery.” IEEE Transactions on Biomedical Engineering. vol. 57, no. 5, pp. 1008-1011, 2010.




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