FeelPen: A Haptic Stylus Displaying Multimodal Texture Feels on Touchscreens

Research output: Contribution to journalArticleScientificpeer-review


The ever-emerging mobile market induced a blooming interest in stylus-based interactions. Most state-of-the-art styluses either provide no haptic feedback or only deliver one type of sensation, such as vibration or skin stretch. Improving these devices with display abilities of a palette of tactile feels can pave the way for rendering realistic surface sensations, resulting in more natural virtual experiences. However, integrating necessary actuators and sensors while keeping the compact form factor of a stylus for comfortable user interactions challenges their design. This situation also limits the scientific knowledge of relevant parameters for rendering compelling artificial textures for stylus-based interactions. To address these challenges, we developed FeelPen, a haptic stylus that can display multimodal texture properties (compliance, roughness, friction, and temperature) on touchscreens. We validated the texture rendering capability of our design by conducting system identification and psychophysical experiments. The experimental results confirmed that FeelPen could render a variety of modalities with wide parameter ranges necessary to create perceptually salient texture feels, making it a one-of-a-kind stylus. Our unique design and experimental results pave the way for new perspectives with stylus-based interactions on future touchscreens.

Original languageEnglish
Pages (from-to)1-11
JournalIEEE/ASME Transactions on Mechatronics
Publication statusAccepted/In press - 19 Apr 2023


  • Electrovibration
  • haptic interface
  • haptics
  • perceptual dimensions
  • tactile perception
  • texture rendering


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