This page collects information on the designs we are creating for studying the novel concept of Cognitive, Cooperative Handheld Robots. Designs are offered for research purposes only and without any guarantee. They should be made and used by experienced and qualified researchers. Please cite our research papers if you use them.

Computer Science Department, University of Bristol.
Contact Austin Gregg-Smith ( or Walterio Mayol-Cuevas ( for further information.

Tuesday, 17 May 2016

NEW Handheld Robot MK2 Cad model designs released May 2016

We have now released the CAD models for 3D printing our Handheld Robot MK2. 
The model is provided free for research purposes only and without any warrantees. Any other usage including commercial please contact the authors. 
Click here to download a zip file with the design and data.

Please cite our ICRA 2016 paper if you use or modify this design:

Austin Gregg-Smith and Walterio W. Mayol-Cuevas. Inverse Kinematics and Design of a Novel 6-DoF Handheld Robot Arm. IEEE International Conference on Robotics and Automation (ICRA). 2016.

Wednesday, 4 November 2015

Investigating Spatial Guidance for a Cooperative Handheld Robot

We are investigating how best to provide feedback information to guide users of handheld robots when performing a spatial exploration task. We are investigating this issue via various feedback methods for communicating a 5 degree of freedom target to a user. We compare against a non-robotic handheld wand and use various display alternatives including a stereoscopic VR display (Oculus Rift), a monocular see-through AR display and a 2D screen, as well as simple robot arm gesturing. Our results indicate a significant improvement when using the handheld robot and some interesting conclusions on the effect of various popular display technologies. More to come on a follow up publication... Watch this space.

Tuesday, 26 May 2015

Press Release

A press release about this work from our University's Press Office is available here.

Reaction to our work has been very encouraging from various prestigious Science and Tech magazines and sites. We have added a Press page as many of those have done a very good job at explaining the potential and possibilities of hand-held robots.

If you are at ICRA 2015 in Seattle, please come and see us in session Cognitive Robotics, May 27th, 16:10-17:20 WSCC 609

ICRA 2015 Video trailer

A video teaser for our paper at ICRA 2015

Thursday, 23 April 2015

Handheld Robot Mark I

Our first prototype, a cable driven very light continuum robot for exploring interaction between users and high-degree-of-freedom handheld robots.

Full CAD model for 3D printing and building instructions available here