TransPen & MimeoPad

Digital rubbing introduces a novel interaction technique that bridges virtual content and physical media by emulating traditional frottage and rubbing methods. Through the development of TransPen—a handheld, plotter-inspired device—and MimeoPad—an interactive drawing board—this system enables the direct transfer of digital images onto paper. The technical implementation utilizes high-speed coordinate tracking and solenoid actuation to produce physical marks based on digital data. To ensure accuracy during rapid artistic motions of up to 50cm/sec, a custom dead-reckoning algorithm predicts pen trajectories and minimizes system latency. This research facilitates "digitally physical image transfer," allowing users to copy, paste, and edit creative works across the virtual-physical divide. By blending digital precision with the tactile, playful nature of manual drawing, the project provides an expressive interface for artistic creation and interactive educational experiences for children.