Chapter 2 of my RISD BFA Thesis video

IDA is a drawing device with four articulation points on four servo motors. Up to four people can control her at once using repurposed Playstation 2 analog joysticks. Her servos can also be controlled by less precise inputs such as light, temperature, movement, flex tension, pressure, or computer vision. Because of the sometimes random nature of such non-human input, the user has to learn to respond to the random movements of IDA.

IDA has reached version 2.