Hapstick: A Soft Flexible Joystick for Stiffness Rendering via Fiber Jamming. - Ayush Giri; Robert Bloom; Tania K. Morimoto (IEEE Robotics Autom. Lett., 2023)

H3Kit: Hand-Held Haptic Kit for STEM Education. - Robert Bloom; Zachary Huang; Kaitlyn Lavarias; Madeleine Ren; Tania K. Morimoto (HAPTICS, 2024)

HaptOGrasp: A Soft Haptic Origami Grasper for Rendering Grip Force Feedback. - Kaitlyn Lavarias; Hannah Lim; Nina Sediki; Robert Bloom; Sukjun Kim; Tania K. Morimoto (RoboSoft, 2025)