{"id":"https://openalex.org/W2740110310","doi":"https://doi.org/10.1109/whc.2017.7989891","title":"Open source, modular, customizable, 3-D printed kinesthetic haptic devices","display_name":"Open source, modular, customizable, 3-D printed kinesthetic haptic devices","publication_year":2017,"publication_date":"2017-06-01","ids":{"openalex":"https://openalex.org/W2740110310","doi":"https://doi.org/10.1109/whc.2017.7989891","mag":"2740110310"},"language":"en","primary_location":{"id":"doi:10.1109/whc.2017.7989891","is_oa":false,"landing_page_url":"https://doi.org/10.1109/whc.2017.7989891","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE World Haptics Conference (WHC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5009746938","display_name":"Melisa Orta Martinez","orcid":"https://orcid.org/0000-0002-1027-5177"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Melisa Orta Martinez","raw_affiliation_strings":["Department of Mechanical Engineering, Stanford University, Stanford, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091306337","display_name":"Joseph Campion","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joseph Campion","raw_affiliation_strings":["Stanford University, Stanford, CA, US"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stanford University, Stanford, CA, US","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030143010","display_name":"Tara Gholami","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tara Gholami","raw_affiliation_strings":["Department of Mechanical Engineering, Stanford University, Stanford, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000134639","display_name":"Michal K. Rittikaidachar","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michal K. Rittikaidachar","raw_affiliation_strings":["Department of Mechanical Engineering, Stanford University, Stanford, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035788495","display_name":"Aaron C. Barron","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aaron C. Barron","raw_affiliation_strings":["Department of Mechanical Engineering, Stanford University, Stanford, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067958710","display_name":"Allison M. Okamura","orcid":"https://orcid.org/0000-0002-6912-1666"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Allison M. Okamura","raw_affiliation_strings":["Department of Mechanical Engineering, Stanford University, Stanford, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5009746938"],"corresponding_institution_ids":["https://openalex.org/I97018004"],"apc_list":null,"apc_paid":null,"fwci":1.0174,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.7567451,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"142","last_page":"147"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9876999855041504,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10648","display_name":"Virtual Reality Applications and Impacts","score":0.9742000102996826,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/kinesthetic-learning","display_name":"Kinesthetic learning","score":0.9027431011199951},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.8608037233352661},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.7579383850097656},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7236829996109009},{"id":"https://openalex.org/keywords/pantograph","display_name":"Pantograph","score":0.617590069770813},{"id":"https://openalex.org/keywords/personalization","display_name":"Personalization","score":0.5958822965621948},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5079346299171448},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.4927823841571808},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.47199466824531555},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4428386092185974},{"id":"https://openalex.org/keywords/multimedia","display_name":"Multimedia","score":0.426974356174469},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.24478906393051147},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23920613527297974},{"id":"https://openalex.org/keywords/engineering-drawing","display_name":"Engineering drawing","score":0.22355598211288452},{"id":"https://openalex.org/keywords/world-wide-web","display_name":"World Wide Web","score":0.19046056270599365},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1689489185810089},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.10762330889701843}],"concepts":[{"id":"https://openalex.org/C55457006","wikidata":"https://www.wikidata.org/wiki/Q3647098","display_name":"Kinesthetic learning","level":2,"score":0.9027431011199951},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.8608037233352661},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.7579383850097656},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7236829996109009},{"id":"https://openalex.org/C20756127","wikidata":"https://www.wikidata.org/wiki/Q722757","display_name":"Pantograph","level":2,"score":0.617590069770813},{"id":"https://openalex.org/C183003079","wikidata":"https://www.wikidata.org/wiki/Q1000371","display_name":"Personalization","level":2,"score":0.5958822965621948},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5079346299171448},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.4927823841571808},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.47199466824531555},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4428386092185974},{"id":"https://openalex.org/C49774154","wikidata":"https://www.wikidata.org/wiki/Q131765","display_name":"Multimedia","level":1,"score":0.426974356174469},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.24478906393051147},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23920613527297974},{"id":"https://openalex.org/C199639397","wikidata":"https://www.wikidata.org/wiki/Q1788588","display_name":"Engineering drawing","level":1,"score":0.22355598211288452},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","level":1,"score":0.19046056270599365},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1689489185810089},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.10762330889701843},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C138496976","wikidata":"https://www.wikidata.org/wiki/Q175002","display_name":"Developmental psychology","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/whc.2017.7989891","is_oa":false,"landing_page_url":"https://doi.org/10.1109/whc.2017.7989891","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE World Haptics Conference (WHC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Quality Education","id":"https://metadata.un.org/sdg/4","score":0.47999998927116394}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W147728794","https://openalex.org/W1490889509","https://openalex.org/W1810582528","https://openalex.org/W1987764007","https://openalex.org/W2035268591","https://openalex.org/W2069666544","https://openalex.org/W2101089421","https://openalex.org/W2107207454","https://openalex.org/W2117040175","https://openalex.org/W2120290000","https://openalex.org/W2120542232","https://openalex.org/W2131156534","https://openalex.org/W2134161165","https://openalex.org/W2146405965","https://openalex.org/W2150932708","https://openalex.org/W2154400847","https://openalex.org/W2172138639","https://openalex.org/W2345339908","https://openalex.org/W2346281211","https://openalex.org/W2493077313","https://openalex.org/W2506326226","https://openalex.org/W2586307227","https://openalex.org/W2636574725","https://openalex.org/W4238278875","https://openalex.org/W4244933696","https://openalex.org/W4299601494","https://openalex.org/W6605961966","https://openalex.org/W6684999802","https://openalex.org/W6705041900","https://openalex.org/W6733039430"],"related_works":["https://openalex.org/W2573375108","https://openalex.org/W2327210927","https://openalex.org/W4229057662","https://openalex.org/W2044297498","https://openalex.org/W3195731900","https://openalex.org/W2074483596","https://openalex.org/W2303198768","https://openalex.org/W2952163316","https://openalex.org/W2111832515","https://openalex.org/W1991401042"],"abstract_inverted_index":{"Open":[0,182],"Source":[1],"Hardware":[2],"allows":[3],"users":[4],"to":[5,33,44,115,133,155,171,176],"share,":[6],"customize,":[7],"and":[8,31,81,90,120,174,179],"improve":[9],"designs,":[10],"thus":[11],"enabling":[12],"technological":[13],"advancement":[14],"through":[15],"communities":[16],"of":[17,55,66,152],"practice.":[18],"We":[19],"propose":[20],"open":[21,56],"source":[22,57,183],"hardware":[23],"for":[24,78,185,192],"educational":[25,46,69],"haptics":[26,175],"that":[27,61,83,100],"permits":[28],"researchers,":[29],"educators,":[30],"students":[32,89],"share":[34],"designs":[35,99,139,184],"arising":[36],"from":[37,102],"their":[38],"different":[39],"perspectives,":[40],"with":[41,112,128],"the":[42,64,103,121],"potential":[43],"expand":[45],"applications.":[47],"In":[48],"this":[49],"paper":[50],"we":[51,75,93],"present":[52],"a":[53,67,117,129,135,146,149,159],"family":[54],"kinesthetic":[58,96],"haptic":[59,70,97],"devices":[60,187],"build":[62],"upon":[63],"design":[65,132],"previous":[68],"device,":[71],"Hapkit":[72,79,105,125],"3.0.":[73,106],"First,":[74],"discuss":[76],"methods":[77],"personalization":[80],"customization":[82,193],"can":[84],"be":[85],"achieved":[86],"by":[87],"K-12":[88],"educators.":[91],"Next,":[92],"describe":[94],"two":[95,109,144],"device":[98],"evolved":[101],"original":[104],"One":[107],"uses":[108,123],"standard":[110],"Hapkits":[111],"additional":[113,153],"components":[114],"form":[116,134],"Pantograph":[118,163],"mechanism,":[119],"other":[122],"customized":[124],"elements":[126],"along":[127],"novel":[130],"kinematic":[131],"serial":[136],"mechanism.":[137],"These":[138],"are":[140,194],"modular;":[141],"after":[142],"building":[143],"Hapkits,":[145],"user":[147],"acquires":[148],"small":[150],"number":[151],"parts":[154],"transform":[156],"them":[157],"into":[158],"two-degree-of-freedom":[160],"device.":[161],"The":[162],"mechanism":[164],"was":[165],"used":[166],"in":[167],"an":[168],"undergraduate":[169],"class":[170],"teach":[172],"robotics":[173],"both":[177],"engineering":[178],"nonengineering":[180],"students.":[181],"all":[186],"as":[188,190],"well":[189],"tutorials":[191],"available":[195],"at":[196],"http://hapkit.stanford.edu.":[197]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":1}],"updated_date":"2026-04-24T06:01:54.638496","created_date":"2025-10-10T00:00:00"}