We have designed two two-degree-of-freedom (2-DOF) devices based on Hapkit. Both are made out of 3-D printed structural components and use the Hapkit Board. We highly encourage you to build them after you have built your Hapkit!
Graphkit is a 2-DOF haptic device that was originally designed with the aim of turning Hapkit 3.0 into a programmable drawing tool. It is made from two original Hapkits 3.0 and a few additional parts combined into a Pantograph design. The information on how to build Graphkit as well as example code is below:
We provide this Arduino code to get you started programming haptic virtual environments with your Graphkit.