Haptic device systems interface with users through touch and their feedback is limited by artificial materials or resolved forces in virtual reality simulators. IAI and collaborators at Stanford University are continuing to develop KineSys MedSim, a Hand-Free Kinetic System for Medical Simulation, which integrates cutaneous sensations of direct interaction with kinesthetic feedback to provide a complete haptic experience. This interface includes a six degrees-of-freedom, cable-based kinesthetic robot with interchangeable tactile displays, two 3D stereo cameras for hand tracking, and a stereoscopic 3D display. The performance of the robot controller will be improved by dynamically adjusting the control parameters as the robot moves throughout the workspace. IAI will design and analyze a multi-cell particle jamming device, allowing finer and more varied simulation scenarios, and capable of quickly generating complex surface profiles. A pressure and vacuum control unit that operates without support from an infrastructure or external air sources will be created by designing mechanisms to transfer air pressure throughout the system, and by preventing any air leakage in the system. The integration between robot controller and particle jamming display will now support multi-cell particle jamming displays, instead of only a single lump display. A fully integrated KineSys MedSim system will be developed with robot motion, a multi-cell particle jamming display, and support for hand tracking throughout the workspace.