Instruction of arm motion for calligraphy using vibrotactile stimulations

Traditional craftsmanship should be handed on to the next generation. Introduction of mechatronics technologies has potential abilities for recording and replaying such craftsmanship. Up to now, there have been some trials to conserve the traditional craftsmanship. However, most of these trials have been aimed for only conservation. In this paper, the way of using brush in calligraphy is focused on as an example of traditional craftsmanship that requires proper motor skills. The authors proposed a method to instruct a master's calligraphic skill to an apprentice using vibrotactile stimulations. Four vibratory motors are attached on the surface of the apprentice's hand, and these motors give vibrotactile feedback to the apprentice for correcting his/her inadequate motions. Here, it is expected that the vibratory motors work as an effective device for arm motion guidance. The apprentice moves the arm in the direction of an activated vibratory motor. In a pilot experiment with several subjects, the applicability of using vibrotactile stimulation was confirmed. In the following experiment, instructions of writing three kind of character were achieved by controlling the vibratory motors properly.