Character Modeling and Calligraphic Learning by Haptic Device

Using a pen-type haptic device, we consider two problems of modeling and reconstructing characters, and of human learning of writing motions with the haptic aid. We first model handwritten characters by employing the so-called dynamic font method and theory of smoothing splines. Also, the calligraphic writing experiments are performed using haptic device with an idea of trajectory tracking control. We then analyze the iterative learning process from the viewpoints of character typefaces, tracking error from the model trajectory, writing time durations, and the support force from the device.