Our project journey began with the exploration of various simple mechanisms aimed at providing tangible interactions. In our quest for greater immersion, we encountered the Open Hand Project by Yale GrabLab, which utilized stiff links and soft joints to create an adaptable and efficient mechanism driven by a single force. However, to achieve full-bodied user experiences with contact points across multiple body parts, we opted to adapt and redesign this mechanism to suit our specific needs.

Recognizing the potential for multiple arms to provide varied points of force control, we integrated an underactuated pulley system. This innovation enabled us to control all arms with a single point of force and facilitated group control in configurations of 2, 4, or 8 arms.

Throughout our journey, we iteratively tested and refined numerous iterations of the mechanism. Each version served as a crucial step towards the development of our final installation. Insights gained from these iterations informed subsequent designs and decisions, contributing significantly to the evolution of our project. https://link.springer.com/chapter/10.1007/978-3-642-00196-3_2

https://www.eng.yale.edu/grablab/