Tangible and haptic robots for education and rehabilitation

Cellulo is a tangible robot system capable of providing haptic feedback.

It has two primary application domains:

Assistance and rehabilitation




  1. The effect of gamified robot-enhanced training on motor performance in chronic stroke survivors
    Arzu Guneysu Ozgur , Maximilian J. Wessel , Jennifer K. Olsen , and 10 more authors
    Heliyon, 2022
  2. Leveraging eye tracking to understand children’s attention during game-based, tangible robotics activities
    Jennifer K Olsen , Arzu Guneysu Ozgur , Kshitij Sharma , and 1 more author
    International Journal of Child-Computer Interaction, 2022


  1. Gamified motor training with tangible robots in older adults: a feasibility study and comparison with the young
    Arzu Guneysu Ozgur , Maximilian J Wessel , Jennifer K Olsen , and 4 more authors
    Frontiers in aging neuroscience, 2020
  2. Iterative design and evaluation of a tangible robot-assisted handwriting activity for special education
    Arzu Guneysu Ozgur , Ayberk Özgür , Thibault Asselborn , and 5 more authors
    Frontiers in Robotics and AI, 2020
  3. "If You’ve Gone Straight, Now, You Must Turn Left" - Exploring the Use of a Tangible Interface in a Collaborative Treasure Hunt for People with Visual Impairments
    Quentin Chibaudel , Wafa Johal, Bernard Oriola , and 4 more authors
    In The 22nd International ACM SIGACCESS Conference on Computers and Accessibility , Virtual Event, Greece, 2020
  4. Using tabletop robots to promote inclusive classroom experiences
    Isabel Neto , Wafa Johal, Marta Couto , and 3 more authors
    In Proceedings of the interaction design and children conference , 2020
  5. Allohaptic: Robot-mediated haptic collaboration for learning linear functions
    Hala Khodr , Soheil Kianzad , Wafa Johal, and 3 more authors
    In 2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) , 2020
  6. Learning symmetry with tangible robots
    Wafa Johal, Sonia Andersen , Morgane Chevalier , and 3 more authors
    In Robotics in Education: Current Research and Innovations 10 , 2020


  1. Tip: Tangible e-ink paper manipulatives for classroom orchestration
    Wafa Johal, Alex Tran , Hala Khodr , and 2 more authors
    In Proceedings of the 31st Australian Conference on Human-Computer-Interaction , 2010