In the Cellulo Project, we are aiming to design and build the pencils of the future’s classroom, in the form of robots. We imagine these as swarm robots, each of them very simple and affordable, that reside on large paper sheets that contain the learning activities. Our vision is that these be ubiquitous, namely a natural part of the classroom ecosystem, as to shift the focus from the robot to the activity. With Cellulo you can actually grab and move a planet to see what happens to its orbit, or vibrate a molecule with your hands to see how it behaves. Cellulo makes tangible what is intangible in learning.

This project is supported by the Swiss National Science Foundation through the National Centre of Competence in Research Robotics.

Conference Papers

Designing Configurable Arm Rehabilitation Games: How Do Different Game Elements Affect User Motion Trajectories?

A. Güneysu Özgür; M. J. Wessel; T. L. C. Asselborn; J. K. Olsen; W. Johal et al. 

2019-10-07. 2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), Berlin, Germany, Jul 23-27, 2019. p. 5326-5330. DOI : 10.1109/EMBC.2019.8857508.

Towards an Adaptive Upper Limb Rehabilitation Game with Tangible Robots

A. Güneysu Özgür; L. P. Faucon; P. Maceira-Elvira; M. J. Wessel; W. Johal et al. 

2019-06-26. 2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR), Toronto, Canada, June, 2019. p. 294-299. DOI : 10.1109/ICORR.2019.8779429.

Declarative Physicomimetics for Tangible Swarm Application Development

A. Özgür; W. Johal; A. Güneysu Özgür; F. Mondada; P. Dillenbourg 

2018-10-29. 11th International Conference on Swarm Intelligence, ANTS 2018, Rome, Italy, October 29-31, 2018. DOI : 10.1007/978-3-030-00533-7.

Iterative Design of an Upper Limb Rehabilitation Game with Tangible Robots

A. Güneysu Özgür; M. J. Wessel; W. Johal; K. Sharma; A. Özgür et al. 

2018-03-05. ACM/IEEE International Conference on Human-Robot Interaction (HRI), Chicago, IL, USA, March 5-8, 2018. p. 241-250. DOI : 10.1145/3171221.3171262.

Bringing letters to life: handwriting with haptic-enabled tangible robots

A. Güneysu Özgür; T. L. C. Asselborn; K. Mrini; E. Yadollahi; A. Özgür et al. 

2018. IDC ’18 Proceedings of the 17th ACM Conference on Interaction Design and Children, Trondheim, Norway, June 19 – 22, 2018. p. 219-230. DOI : 10.1145/3202185.3202747.

Windfield: Demonstrating Wind Meteorology with Handheld Haptic Robots

A. Ozgur; W. Johal; F. Mondada; P. Dillenbourg 

2017. HRI ACM/IEEE International Conference on Human-Robot Interaction, Vienna, Austria, March 6-9, 2017. p. 48-49. DOI : 10.1145/3029798.3036664.


Cellulo: Tangible Haptic Swarm Robots for Learning

A. Özgür / P. Dillenbourg (Dir.)  

EPFL, 2018. 


Magnet-assisted ball drive

A. Özgür; S. Lemaignan; W. Johal; F. Mondada; P. Dillenbourg et al. 

US10377231; US2019016213.


Student Projects

VR with Cellulo, bringing haptic feedback to VR.

J. Mion 


Cellulo Geometry Learning Activity

B. Beuchat; A. Scalisi