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

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Last Year…

[Poupyrev and Maruyama, UIST 2003]

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

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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

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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

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Tactile Styli

Anoto Pen (by Logitech)

eccentric mass motor

SensAble PHANTOM

grounded reflective-force

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Tactile Styli

Anoto Pen (by Logitech)

eccentric mass motor

SensAble PHANTOM

grounded reflective-force

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Tactile Styli

Anoto Pen (by Logitech)

eccentric mass motor

• Buzzing is sufficient for interaction feedback.

• Impulse/High-Frequency forces necessary to simulate clicks are not possible.

• Lateral forces are unnatural.

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Force Vectors

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Force Vectors

Longitudinal

Lateral

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Longitudinal Force

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Longitudinal Force

along same force vector

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Lateral Force

lateral force is unnatural

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Accelerometer Comparison

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Solenoid Actions

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Haptic Behaviors

Basic Click:

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

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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”)

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Interaction ConceptsMulti-function buttons Input error feedbackTwo-Click for mapping stylus single & double

clickStiff confirmation buttonsToggle 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…

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Off the Screen

Haptic Pen + Anoto Tracking =Drawable Tactile Interfaces

3D tracking allows tactile feedback on any registered surface.

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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

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Thanks for coming to UIST 2004!

Johnny Chung Leejohnny@cs.cmu.eduCarnegie Mellon UniversityMitsubishi Electric Research Labs

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Techno-mumbo-jumbo

PIC16F876 with 10-bit A/D and 10-bit PWM5mm force sensitive resistor (CUI SF-5)

16.1mm push-type solenoid (Guardian Electric)

Actuated mass: 26.7gSupply Voltage: 20VMin. Hold Continuous Current: < 1mA Impulse Capacitor: 100F @ 20VMin. Response Time: 5msMax. Energy: ~50mJ