Design and applications of a pen-like haptic interface with texture and vibrotactile display

This paper presents a pen-like haptic interface with a built-in compact tactile display module and a vibrating module. We describe evaluations verifying its performance and indicating that it can satisfactorily represent tactile patterns and provide vibrotactile feedback. Its applicability to combined force and tactile feedback display in a pen held haptic device is also investigated. Finally, we evaluate its capacity to support touch screen operations by providing tactile sensations when a user rubs against an image displayed on a monitor.