Pen Holder Design for a Handwriting Education Assistance Robot

Abstract

The aim of this work is to contribute to quality education by developing a robot system that can assist in handwriting education. The effects of educational robots on learning motivation and performance enhancement have been proven by various studies. In this context, the handwriting assistive robot aims to ease the work of teachers by enabling students to learn how to write more easily and to provide a platform where students can learn on their own. This robot can contribute to the spread of quality education by supporting equal educational opportunities, especially in disadvantaged areas and in cases where the number of teachers is insufficient. The robot supports three different operation modes: Active Mode, Assistive Mode, and Passive Mode. In this study, the pen holder design of this robot is presented. The final design is suitable for both right- and left-handed users, does not require an additional sensor, and the writing ergonomics is increased by keeping the contact point of the pen with the paper at a constant point independent of the holding style. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.