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This paper proposes an instruction method of brush strokes utilizing haptic devices. Focusing attention to the magnitude difference between the horizontal and the vertical in brush strokes, we introduced a position/force hybrid scheme for determining traction forces to be fed back to users: the horizontal component of the force was given to reduce the horizontal position deviation of a learner from an expert, and the vertical component was given as reaction forces of the expert-exerted forces. As an example, a bush stroke experiment was conducted for some Brahmi characters.
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