This research presents penPal, a novel handheld drawing tool designed to support dynamic mark-making and creative decisions at the texture level. By integrating a tendon-driven continuum robot, the device allows its tip to move independently of the user's hand, providing an additional axis of control that combines manual manipulation with computer-assisted generation. Through studies involving participants and professional artists, the work examines how users negotiate multiple coordinate systems—including their own body, the paper, and the tool's tip—to construct complex compositions and explore generative potential through selective defamiliarization.
Key points:
* Use of tendon-driven continuum robots for handheld tools
* Texture-level creative control in drawing
* Negotiation of multiple coordinate systems during composition
* Integration of manual and computer-assisted mark-making
Key points:
* Use of tendon-driven continuum robots for handheld tools
* Texture-level creative control in drawing
* Negotiation of multiple coordinate systems during composition
* Integration of manual and computer-assisted mark-making
