Eternal sharpener — A rotational haptic display that records and replays the sensation of sharpening a pencil

This paper proposes a simple 1 DOF rotational haptic display that achieves endless sharpening of a pencil. Many haptic applications have been proposed to present shapes, elasticity, viscosity, and other physical properties of the environment. While these are important to support many tasks such as teleoperation and computer aided design, we focus on the use of haptic display for amusement. We paid special attention to the feeling of ldquoaddictive comfortablenessrdquo induced by haptic stimulation. We take ldquopencil sharpenerrdquo as a typical example, because it is obviously comfortable and has addictiveness. Moreover, the mechanism is relatively simple because the sensation could be generated through 1 DOF haptic display. In this paper, we recorded force and sound of the real pencil sharpener and replayed the sharpening sensation through a haptic display.