Haptic Device Application in Persian Calligraphy

The Haptic device is capable of interacting dynamically with the operator by the forces it can exert on human´s hand. Controlling the haptic device and constraining it through the desired trajectory is the common task in the most of the training systems. Haptic interface application in virtual Persian handwriting learning system is investigated in this paper. Two different modes of learning is investigated: The full guidance mode, guides the user to follow a prerecorded trajectory by applying proper force to operatorpsilas hand; whereas in partial guidance, combination of haptics and visual feedback guides the operator and prevents deviation from the desired trajectory.