Video of a recent demo of TorqueTuner, a 1DoF Rotary Force-Feedback Device developed at the IDMIL, using the Moteus controller:

Developed originally by Mathias Kirkegaard and Christian Frisson for the Mechaduino board, it has been ported to the Moteus controller, by Albert-Ngabo Niyonsenga, Pierre Talbot and Christian Frisson.

Related references:

• Kirkegaard, M., Bredholt, M., Frisson, C., Wanderley, M. M. (2020). TorqueTuner: A self contained module for designing rotary haptic force feedback for digital musical instruments. In Proceedings of the 2020 International Conference on New Interfaces for Musical Expression (NIME 2020) (pp. 6). Birmingham, UK.
• Frisson, C., Bredholt, M., Malloch, J., Wanderley, M. M. (2021). MapLooper: Live-looping of distributed gesture-to-sound mappings. Proceedings of the 2021 International Conference on New Interfaces for Musical Expression (NIME 2021), Shanghai, China.
• Frisson, C., Kirkegaard, K., Pietrzak, T., Wanderley, M. M. (2022). ForceHost: An Open-source Toolchain for Generating Firmware Embedding the Authoring and Rendering of Audio and Force-feedback Haptics. Proceedings of the 2022 International Conference on New Interfaces for Musical Expression (NIME 2022), Auckland, New Zealand.