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This paper presents the current technical aspects, design rationale and drawing capabilities of a drawing robot in development. The robot is fitted with a load-cell sensor to provide tactile feedback – a sense of touch. The paper provides preliminary results of a robot able to autonomously control the pressure placed behind a pencil when drawing. The robot is also able to dynamically adapt to irregularities of the drawing surface and its own mechanics. The paper presents technical studies, which demonstrate the various capabilities of the robot to draw and shade.

A Robot That Draws and Shades with Tactile Force Feedback Sensed Through a Pencil