Design and Testing of a Planar Device for Haptic Interactions During Handwriting Teaching and Learning

Despite the increased use of electronic devices for communication, handwriting remains an essential skill. Research suggests that children’s development is affected by handwriting ability, as such improvement at an early age is critical. This paper presents the design and the preliminary validation of a device for supporting handwriting teaching and learning by implementing haptic communication between two users. The device uses two planar five revolute (5R) parallel mechanisms and establishes a mechanical connection between them through gears and shafts. This work includes the design, testing of the working area and connection stiffness, and a proof of concept of its actual use in a handwriting trial with a couple of adults.