**2. Haptic desktop**

The Haptic Desktop System (HDS) developed at PERCRO is our multimodal interface solution for design simple sketches. In Figure 3 a conceptual representation of this interface is shown, the user can freely design sketches inside the workspace of the interface which correspond with the superficies of a screen, enabling to the interface render the haptic and visual feedback in the same point in the 2D space.
