S17-113 Grabity: A Virtual Reality Controller that Simulates Weight and Stiffness Stanford researchers in the SHAPE lab have patented a virtual reality, haptic device called 'Grabity' that simulates weight, stiffness, and torque. Inrak Choi Sean Follmer Heather Culbertson
S12-428 Haptic Interface with Variable Stiffness and Deformable Geometry Researchers in Prof. Allison Okamura's laboratory have patented a small, simple tactile display that can automatically control both its surface geometry and its mechanical properties. Andrew Stanley James Gwilliam Allison Okamura