HapLearn Iteration 2

Group Members: Ahmed, Karthik, Rayan, Kattie




  1. Construction of scatterplot
  2. Adding navigation to a particular point (Rayan)
  3. Map haptic feedback using Haply to a point’s value (Kattie and Ahmed)
  4. Map vibrotactile feedback using actuators to the graph (Karthik)



Navigation approach

This was a very challenging task. After creating the scatterplot above we wanted to add navigation component in it. We took inspiration from the PID Lab 4 and decided to use the P and D component. We decided not to use I component as we wanted a quick snapping action. Using a value of P=0.05, D=0.99, we were able to create an optimal navigation mechanism. As an example, we added two countries in the bottom i.e. United States and Somalia. In addition, we also added a text box where the user can type in the name of his desired country and the haply takes the user the respective point. The following is the final navigation sketch.

Navigation sketch

Haptic Feedback

code for plotting few points on scatterplot
code for incorporating damping in the data points
Sketch with Damping to represent Friction

Through this, I was able to create different damping effects. While navigating through the point, I felt some resistance. However, it was not clearly distinguishable for different points. But that was since I was not using the actual data set and there was no visual aid to indicate the values encoded by the damping factor.

Bumpiness and stickiness when in crowded area

In the above sketch, Kattie was able to add bumpiness and stickiness in the crowded regions. We felt that this can be useful to uniquely represent a cluster of countries or even continents.

The next step was integrating this component in the navigation component created in the previous step. My goal was to dynamically create an invisible Fisica circle at the target location. So that when the Haply takes the user to specific point, he can experience some friction proportional to a value of that point. This turned out to be very challenging as there were integration issues between Fisica objects (invisible FCircle) and Grafica objects (graph). The Fisica objects were not being instantiated in the sketch.

Vibrotactile Feedback

Personal Contribution


Next Iteration


Broken Haply wire (Luckily I was able to get soldered from hardware store) It was scary as the socket was made of plastic and I was afraid that it would melt the socket as well.



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