Drone-guided Breathwork


Wisp is a product and experience design experiment built on a Bitcraze Crazyflie 2.1 micro-quadcopter drone and a PLUX/BITalino respiration sensor. By synchronizing its movements and lights the user’s with breathing patterns, the drone can both lead and follow* the breath in order to encourage, teach, guide, and augment breathwork.

The experience design is inspired and informed by how breathwork teachers work with children.


Mafalda Samuelsson-Gamboa (Principal)

Morten Fjeld
Sara Ljungblad
Mohammad Obaid

Bitcraze AB
Chalmers University of Technology
PLUX Wireless Biosignals SA
Qualisys AB
University of Gothenburg

Ethos + Methodology




Publications + Open Source


Mafalda Gamboa, Mehmet Aydın Baytaş and Sara Ljungblad (2021). Wisp: a Design Case for Temporality in Research through Design in Human-Robot Companionship. Paper for the HRI ‘21 Workshop Research Through Design Approaches in Human-Robot Interaction (RTDxHRI). [PDF]

Mafalda Gamboa, Mohammad Obaid, and Sara Ljungblad (2021). Ritual Drones: Designing and Studying Critical Flying Companions. Companion of the 2021 ACM/IEEE International Conference on Human-Robot Interaction. [ACM Digital Library]