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With the emergence of pen-enabled tablets and mobile devices, stylus-basedinteraction has been receiving increasing attention. Unfortunately, stylusesavailable in the market today are all passive instruments that are primarilyused for writing and pointing. In this paper, we describe a novel styluscapable of displaying certain vibro-tactile and inertial haptic effects to theuser. Our stylus is equipped with two vibration actuators at the ends, whichare used to create a tactile sensation of up and down movement along thestylus. The stylus is also embedded with a DC motor, which is used to create asense of bidirectional rotational torque about the long axis of the pen.Through two psychophysical experiments, we show that, when driven withcarefully selected timing and actuation patterns, our haptic stylus can conveymovement and rotational torque information to the user. Results from a furtherpsychophysical experiment provide insight on how the shape of the actuationpatterns effects the perception of rotational torque effect. Finally,experimental results from our interactive pen-based game show that our hapticstylus is effective in practical settings

HaptiStylus: A Novel Stylus Capable of Displaying Movement and Rotational Torque Effects