Full paper describing Polhem presented at EuroVR 2019. Haptikfabriken is an initative by Forsslund Systems AB. Please visit our blog. We make tailored and off-the-shelf haptic devices. For prices and more details, please contact us directly: firstname.lastname@example.org! For our open source hardware haptic device see www.woodenhaptics.org. For the oral surgery simulator, that uses the Polhem haptic device, see www.kobrasimulator.com.