KATIB: Haptic-Visual Guidance for Handwriting

Abstract

Abstract Haptic-visual guidance is shown to improve handwriting. This work presents a platform named KATIB (writer in Arabic) to support multi-stroke handwriting using haptic-visual guidance. A rotating neodymium magnet mounted onto a 2 DoF parallel robot underneath the writing surface is proposed to improve the fidelity of haptic guidance and mechanically decouple the stylus. The stylus utilizes stackable magnets to intensify magnetic forces. Full and partial haptic guidance methods are developed and evaluated. The current implementation demonstrates sufficient workspace of 80 mm $$\times $$ <mml:math xmlns:mml="http://www.w3.org/1998/Math/MathML"> <mml:mo>×</mml:mo> </mml:math> 60 mm and a perceivable (tangential) guidance force of 0.4 N. Magnetostatic analysis is conducted to study the effects of friction and tilting on the rendered force.