For the past several years Haply Robotics has been developing high-performance, inexpensive, haptic devices that can be used in a variety of applications, such as medical simulation for the purposes of training. Haply is currently interested in the use of commercial off-the-shelf manipulandums, such as the Valve Index (Valve Index, 2022), that measures the user’s applied grip force to characterize the user’s grip as gentle or forceful.