title page
Abstract
Contents
I. INTRODUCTION 11
II. BACKGROUND AND RELATED WORK 14
2.1. Haptic Feedback 14
2.2. Pen computer 15
2.3. Related work 16
III. IMPLEMENTATION 20
3.1. System Overview 20
3.2. ActivePen prototype 22
3.3. LVDT 23
3.4. Plate spring & Voice-Coil Motor 23
3.5. State diagram 24
3.6. The communication protocol 27
3.7. The performance of the prototype 28
IV. HAPTIC FEEDBACKS 30
4.1. Prominence & Depression haptic feedback 31
4.2. Vibration haptic feedback 32
4.3. Movement algorithms 33
4.4. Five haptic interaction styles by four basic haptic feedbacks 35
4.4.1. Click Feel 36
4.4.2. Topography Feel 38
4.4.3. Drag&Drop Feel 39
4.4.4. Virtual Path Feel 40
4.4.5. Writing Feel 41
V. PEN TYPES 44
5.1. The principle of the existing stylus 44
5.2. The shortcomings of the existing stylus 45
5.3. Three interaction modes of ActivePen 46
VI. EXPERIMENTS 49
6.1. Click Feel test 49
6.2. Topography Feel test 52
6.3. Drag&Drop Feel test 54
6.4. Writing Feel test 57
6.5. Virtual Path Feel test 59
6.6. Discussion 61
VII. CONCLUSION AND FUTURE WORK 63
[국문요약] 65
References 68
Appendix A. Word sets of Click Feel test 70
Appendix B. Post-test Interview Questions 71
Appendix C. ActivePen Circuit Diagram 73
Appendix D. The operating frequency of ActivePen 74
Acknowledgements 75
Curriculum Vitae 77
Table 1. Information Bandwidth Limitations for three sense [1] 14
Table 2. The touch in the most basic sensation to the people 15
Table 3. Send data form PIC to PC 27
Table 4. Send data form PC to PIC 27
Table 5. The specification of Voice Coil Motor 28
Table 6. The properties according to the interaction mode 47
Figure 1. The pen tip movement of Real(upper) and Computer(lower) world 12
Figure 2. Related work and the flow of research topic 17
Figure 3. Active Click[5] 18
Figure 4. Haptic Pen[4] 18
Figure 5. The system diagram of the ActivePen 20
Figure 6. The ActivePen System 22
Figure 7. The ActivePen Prototype 22
Figure 8. The Voice Coil movement: No spring(Left) and spring(Right) 24
Figure 9. The State Diagram of ActivePen 25
Figure 10. Vibration State 26
Figure 11. Fixation State 26
Figure 12. The haptic feedback architecture in the ActivePen 30
Figure 13. The single(L) and multiple(R) prominence & depression movement 32
Figure 14. The Prominence & Depression movement algorithm 33
Figure 15. The reason of four thresholds 34
Figure 16. One period vibration 35
Figure 17. Continuance Vibration 35
Figure 18. The variation of pen position in existing stylus and ActivePen 36
Figure 19. Click Feel: Press(Left) and take off(Right) 37
Figure 20. The high and low in the Topography Feel 38
Figure 21. The Concept diagram of Virtual Path Feel 40
Figure 22. Writing Feel: Grid(Left), Distance(Right) 41
Figure 23. Drawing slowly(left) & quickly(right) 42
Figure 24. The Click Feel UT program 50
Figure 25. Click Feel: The completion time(Left) & the error rate/word(Right) 51
Figure 26. The Topography Feel UT program 52
Figure 27. Topography Feel: The completion time(L) & the error rate(R) 53
Figure 28. The Drag&Drop Feel UT program 55
Figure 29. Drag&Drop Feel: The completion time(L) & the error rate(R) 56
Figure 30. Writing Feel: The test results 58
Figure 31. Virtual Path and its the partial cross section 60
Figure 32. The method for calculating the similarity between the two paths 60