This work introduces the Haply 2diy, a low-cost, grounded force feedback haptic device. This device is designed to provide handson laboratory experience for multimodal design by including the typically elusive sense of touch. The Haply 2diy is a two-degree-offreedom kinesthetic haptic device that allows the user to feel forces when moving in the workspace. The 2diy consists of two motors with encoders, a capstan transmission with a 3D-printed four-link mechanism, an aluminum platform, and a custom Arduino-based controller board. In this demonstration, conference attendees will be able to interact with the device and experience force feedback effects in various interaction demonstrations.

This short review updates an exhaustive one written by Correa et al in 2019 about haptic training simulation on needle insertion in the medical field. b) Recent findings: Latest works refine wellknown models and enhance setups and methods to facilitate generically getting experimental data. c) Summary:We provide a complementary focus on device specifications and recent models to render this specific haptic feedback on Computer-Based Simulators. Assessment approaches and the issues encountered when introducing such simulators into curricula are also discussed. FEM-based approaches still do not permit real-time computation but hybrid approaches as proposed by [1] may become a good compromise. Nonetheless, psychophysical studies should be performed to determine the haptic fidelity of the various approaches found in the literature, and embed them efficiently in medical curricula. This would permit to delay the necessary final hands-on training on patients that raises ethical issues.

HAL is a multi-disciplinary open access archive for the deposit and dissemination of scientific research documents, whether they are published or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers. L'archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques de niveau recherche, publiés ou non, émanant des établissements d'enseignement et de recherche français ou étrangers, des laboratoires publics ou privés.