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    This study introduces VnStylus, a novel variable stiffness stylus. Its hardware-based design enhances safety and performance in interaction tasks by enabling precise stiffness control without electronics.

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    Area of Science:

    • Robotics
    • Human-Computer Interaction
    • Mechanical Engineering

    Background:

    • Variable stiffness tools offer benefits in safety, stability, and efficiency for interaction tasks.
    • Existing software-based impedance control strategies face bandwidth and stability limitations.

    Purpose of the Study:

    • To design, model, implement, and evaluate VnStylus, a stylus with hardware-based variable stiffness modulation.
    • To demonstrate the advantages of mechanical stiffness variation over software-based control for stylus applications.

    Main Methods:

    • The VnStylus utilizes transverse stiffness variations of axially loaded beams for stiffness modulation.
    • A fully compliant mechanism design minimizes friction and allows for high-fidelity stiffness display.
    • The device features a manual adjustment mechanism, eliminating the need for actuators, sensors, or electronics.

    Main Results:

    • Experimental characterization confirmed a wide range of achievable stiffness modulation.
    • The accuracy of the system's equivalent stiffness model was verified.
    • Human subject experiments demonstrated the positive impact of modulated stylus stiffness on user performance.

    Conclusions:

    • VnStylus provides a lightweight, low-cost, and robust solution for variable stiffness interaction.
    • Hardware-based impedance modulation overcomes limitations of software-based approaches.
    • Modulated stylus stiffness significantly improves human performance in common interaction tasks.