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An evaluation of the virtual curvature with the StickGrip haptic device: A case study

Research output: Contribution to journalArticleScientificpeer-review


Original languageEnglish
Pages (from-to)161-173
Number of pages13
JournalUniversal Access in the Information Society
Issue number2
Publication statusPublished - Jun 2013
Publication typeA1 Journal article-refereed


Dynamic simulation of distance to the physical surface could promote the development of new inexpensive tools for blind and visually impaired users. The StickGrip is a haptic device comprised of the Wacom pen input device added with a motorized penholder. The goal of the research presented in this paper was to assess the accuracy and usefulness of the new pen-based interaction technique when the position and displacement of the penholder in relation to the pen tip provided haptic feedback to the user about the distance to the physical or virtual surface of interaction. The aim was to examine how accurately people are able (1) to align the randomly deformed virtual surfaces to the flat surface and (2) to adjust the number of surface samples having a randomly assigned curvature to the template having the given curvature and kept fixed. These questions were approached by measuring both the values of the adjusted parameters and the parameters of the human performance, such as a ratio between inspection time and control time spent by the participants to complete the matching task with the use of the StickGrip device. The test of the pen-based interaction technique was conducted in the absence of visual feedback when the subject could rely on the proprioception and kinesthetic sense. The results are expected to be useful for alternative visualization and interaction with complex topographic and mathematical surfaces, artwork, and modeling.


  • Curved surface, Kinesthetic feedback, Pen-based interaction, StickGrip haptic device