Created by: Ahmed Anwar

The goal of this lab is to communicate three expressions using grounded force feedback from the Haply device only.

I started off the process of word selection by keeping three goals in mind. Firstly, the words should be mapped to the haptic feedback. Secondly, the three words should be distinguishable without any external assistance. Lastly, I realized that representing emotional expressions would be more aptly represented using the Haptic Feedback than any arbitrary expression.

In the next step, I explored the different forms of feedbacks that can be represented by the Haply device. To represent different…

Lab 4: Code Repository

How does it feel? What happens when you change the target position? What does changing the P parameter do? Do you notice any problems?

In this section, I tweaked the value of the proportional gain while keeping all else constant. My first impression was the system was very unstable and often the knob of the end effector would go flying off the haply due to rapid oscillations of the end effector. A presentable example can be seen below when I used a P value of 0.05.

p = 0.05

After my first interaction with the system, I realized that…

Created by: Ahmed Anwar

In this lab, we had to assemble the Haply device and come up with a maze design and implement it using processing and Haply. Please note that I received my Haply late, so I am submitting this lab now. In addition, I would like to acknowledge, my peer’s comments on the the Can-Hap Discord discuss-labs channel which helped me out a lot. The code for this lab can be found at this repository.

This device assembly process was pretty straight forward. I just followed the instructions on Haply’s website. The second step was setting up the…

Group Members: Ahmed, Karthik, Rayan, Kattie


Our overall project is aimed towards Haptic Data Visualization (HDV). In iteration 1, we experimented with a simple bar chart using vibrotactile and auditory feedback. However, in this iteration, we want to experiment with more complex graph type i.e. scatterplot with multiple dimensions and assist user in graph exploration using Haptics.


The motivation behind choosing a scatterplot is to see whether a complex graph such as above can be represented using Haptic feedback. We acknowledge that the animated graph aptly represents a lot of quantitative information and is probably the gold standard. …


Our project is aimed towards Haptic Data Visualization (HDV) using the force-feedback and vibrotactile feedback. We wanted to explore different ways in which trends and data can be experienced in graphs using haptic interaction in a way that can assist visually impaired individuals.


The motivation behind the first iteration was to explore multimodal approaches to represent graphical data. Three members of the group did not have Haply so they decided to focus on the vibrotactile feedback while the fourth member experimented with the Haply.

Since, three members of the group did not have the Haply so we decided to use…

Ahmed Anwar

Get the Medium app

A button that says 'Download on the App Store', and if clicked it will lead you to the iOS App store
A button that says 'Get it on, Google Play', and if clicked it will lead you to the Google Play store