pen de touch is a pen-shaped device that allows users to interact with virtual environments like they
were real. the pen is a haptic display that uses kinesthetic sensations on the user’s fingers to signal
different virtual environments. for instance, if the pen was inside a virtual box, the user would feel
the kinesthetic sensations when they hit the side of the box by moving the pen. the device is an
advance in haptic display since it doesn’t restrict the user through mechanical linkages and uses
kinesthetic sensations over vibrations, giving a more accurate representation of tactile sensation.
the pen de touch project team is comprised of sho kamuro, kouta minamizawa and naoki kawakami
from the university of tokyo and susumu tachi from keio university.

http://tachilab.org/modules/projects/pendetouch.html