Hybrid Instruction Method of Brush Strokes with Haptic Device.

This paper proposes an instruction method of brush strokes utilizing haptic devices. Focusing attention to the magnitude difference between the horizontal and the vertical in brush strokes, we introduced a position/force hybrid scheme for determining traction forces to be fed back to users: the horizontal component of the force was given to reduce the horizontal position deviation of a learner from an expert, and the vertical component was given as reaction forces of the expert-exerted forces. As an example, a bush stroke experiment was conducted for some Brahmi characters.