1. 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

2. Last Year…
[Poupyrev and Maruyama, UIST 2003]

3. Our Goals: Support large touch-sensitive displays.
Support multiple simultaneous users.

4. Our Goals: Our Solution: 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

5. 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

6. Tactile Styli Anoto Pen (by Logitech) eccentric mass motor
SensAble PHANTOM
grounded reflective-force

7. Tactile Styli Anoto Pen (by Logitech) eccentric mass motor
SensAble PHANTOM
grounded reflective-force

8. Anoto Pen (by Logitech)
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

9. Force Vectors

10. Force Vectors
Longitudinal
Lateral

11. Longitudinal Force

12. Longitudinal Force
along same force vector

13. Lateral Force
lateral force is unnatural

14. Accelerometer Comparison

15. Solenoid Actions

16. Haptic Behaviors
Haptic Behavior – a mapping of solenoid actions to the states and transitions of an interaction.
Basic Click:

17. 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”)

18. 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…

19. Off the Screen Haptic Pen + Anoto Tracking =
Drawable Tactile Interfaces
3D tracking allows tactile feedback on any registered surface.

20. 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

21. Thanks for coming to UIST 2004!
Johnny Chung Lee
Carnegie Mellon University
Mitsubishi Electric Research Labs

22. 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: 20V
Min. Response Time: 5ms
Max. Energy: ~50mJ