Tucker Rae-Grant

Exploring Texture-Level Creative Decisions with penPal, a Novel Handheld Actuated Drawing Tool

This paper looks at texture---middle-level components---as an important aspect of drawing. We present a hardware tool, penPal, that is designed to support dynamic mark-making and direct creative actions at this level. By incorporating a tendon-driven continuum robot, penPal’s tip can move independently, giving the use…