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Haptic Pen: A Tactile Feedback Stylus for Touch Screens. Johnny C. Lee 1,2 Paul H. Dietz 2 Darren Leigh 2 William S. Yerazunis 2 Scott E. Hudson 1. 1 Carnegie Mellon University 2 Mitsubishi Electric Research Labs Santa Fe, NM UIST 2004. Last Year…. [Poupyrev and Maruyama, UIST 2003].

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haptic pen a tactile feedback stylus for touch screens

Haptic Pen: A Tactile Feedback Stylus for Touch Screens

Johnny C. Lee1,2

Paul H. Dietz2

Darren Leigh2

William S. Yerazunis2

Scott E. Hudson1

1Carnegie Mellon University

2Mitsubishi Electric Research Labs

Santa Fe, NM UIST 2004

last year
Last Year…

[Poupyrev and Maruyama, UIST 2003]

our goals
Our Goals:
  • Support large touch-sensitive displays.
  • Support multiple simultaneous users.
our goals4
Our Goals:
  • Support large touch-sensitive displays.
  • Support multiple simultaneous users.

Our Solution:

  • Haptic Pen

- Feedback not tied to display

- Individualized feedback

- Pressure Sensitivity

- Non-Contact Location data

- Low-cost

prototype implementation
Prototype Implementation

External control board and power supply. RS-232 interface to PC. Components in prototype cost ~$10.

Diamond Touch Interface [Dietz, UIST’01]

- DT is a Multi-user front-projected touch table

- Haptic Pen is location technology agnostic

tactile styli
Tactile Styli

Anoto Pen (by Logitech)

eccentric mass motor

SensAble PHANTOM

grounded reflective-force

tactile styli7
Tactile Styli

Anoto Pen (by Logitech)

eccentric mass motor

SensAble PHANTOM

grounded reflective-force

tactile styli8
Tactile Styli
  • Buzzing is sufficient for interaction feedback.
  • Impulse/High-Frequency forces necessary to simulate clicks are not possible.
  • Lateral forces are unnatural.

Anoto Pen (by Logitech)

eccentric mass motor

force vectors10
Force Vectors

Longitudinal

Lateral

longitudinal force12
Longitudinal Force

along same force vector

lateral force
Lateral Force

lateral force is unnatural

haptic behaviors
Haptic Behaviors

Haptic Behavior – a mapping of solenoid actions to the states and transitions of an interaction.

Basic Click:

haptic behaviors for buttons
Haptic Behaviors for Buttons

No Click – No feedback, primarily for control comparison

Light Click – Light threshold, weak feedback(“ballpoint pen”)

Basic Click – Medium threshold, medium feedback

Hard Click – High threshold, strong feedback(“punch tool”)

Buzz – Fixed strength buzz when pressed(“error”)

Force Buzz – Proportional strength buzz(“dentist”)

Two-Click – Two level button(“camera shutter”)

Buzz-Click – Two level button(“test and confirm”)

interaction concepts
Interaction Concepts
  • Multi-function buttons
  • Input error feedback
  • Two-Click for mapping stylus single & double click
  • Stiff confirmation buttons
  • Toggle switches – Light Click on, Hard Click off
  • Data Peeking – stiffness driven by hidden variable
  • Tactile Alerts – Continuous contact with user
  • Targeting – buzzing driven by proximity, region, or direction.
  • More in the paper…
off the screen
Off the Screen

Haptic Pen + Anoto Tracking =

Drawable Tactile Interfaces

3D tracking allows tactile feedback on any registered surface.

future directions
Future Directions
  • Develop more robust and compact prototypes and explore a wireless implementation
  • Explore tasks which have the greatest potential for improvement in performance and user satisfaction
  • Develop hardware and software technologies for multi-user tactile applications
thanks for coming to uist 2004
Thanks for coming to UIST 2004!

Johnny Chung Lee

johnny@cs.cmu.edu

Carnegie Mellon University

Mitsubishi Electric Research Labs

techno mumbo jumbo
Techno-mumbo-jumbo
  • PIC16F876 with 10-bit A/D and 10-bit PWM
  • 5mm force sensitive resistor (CUI SF-5)
  • 16.1mm push-type solenoid (Guardian Electric)
  • Actuated mass: 26.7g
  • Supply Voltage: 20V
  • Min. Hold Continuous Current: < 1mA
  • Impulse Capacitor: 100F @ 20V
  • Min. Response Time: 5ms
  • Max. Energy: ~50mJ