[{"data":1,"prerenderedAt":-1},["ShallowReactive",2],{"doc-detail-140078-en":3,"doc-seo-140078-105":30,"detail-sidebar-cat-0-en-105":91},{"code":4,"msg":5,"data":6},0,"success",{"doc_id":7,"user_id":8,"nickname":9,"user_avatar":10,"doc_module":4,"category_id":11,"category_name":12,"doc_title":13,"doc_description":14,"doc_content":15,"file_id":16,"file_url":17,"file_type":18,"file_size":19,"view_count":4,"is_deleted":4,"is_public":20,"is_downloadable":20,"audit_status":20,"page_count":21,"language":22,"language_code":23,"site_id":24,"html_lang":23,"table_of_contents":25,"faqs":26,"seo_title":27,"seo_description":14,"update_tm":28,"read_time":29},140078,1374391975076,"Riley","https://ap-avatar.wpscdn.com/avatar/14000253ca4ec9f6853?x-image-process=image/resize,m_fixed,w_180,h_180&k=1783305029341752051",6,"Technology","Handwriting Optimization System Using Pressure Sensor Array for Touch-type Digital Painting - PAMO","A pressure-array-based manuscript optimization (PAMO) system is proposed to improve digital painting and handwriting beyond single-point pressure sensing. The system integrates a 128-unit flexible piezoresistive sensor array (16×8) with a stylus and samples grip-force data at 120 Hz. A dual-layer optimization framework applies a second-order Kalman filter for real-time denoising and position prediction, plus Cubic B-spline interpolation to ensure smooth continuity. Experiments show 42.7% and 42.0% reductions in curvature standard deviation for straight lines and circles, and 8.5 ms lower end-to-end latency via one-step prediction. Mapping dynamic grip features to stroke morphology better approximates traditional artistic physical expression.","Sensors and Materials, Vol. 38, No. 3 (2026) 1675–1693 1675  \nMYU Tokyo  \nS & M 4400  \nHandwriting Optimization System Using Pressure Sensor Array  \nfor Touch-type Digital Painting  \nYu Zhu 1* and Jiabin Hu2  \n1Wuhan Textile University, Wuhan 430077, China  \n2School of Computer Science and Technology, Hubei Business College, Wuhan 430079, China  \n(Received January 29, 2026; accepted March 19, 2026)  \nKeywords: pressure sensor array, touch type, digital painting, handwriting optimization  \nConventional handwriting recognition systems often fail to capture complex hand-device interactions, such as grip force distribution and subtle posture changes, but remain susceptible to hand-tremor noise. To overcome such inherent limitations of traditional single-point pressuresensing systems, we developed a pressure-array-based manuscript optimization (PAMO) system with an intelligent stylus integrated with a 128-unit flexible piezoresistive sensor array (16 × 8 units) that captures a high-dimensional manifold of grip force data at a 120 Hz sampling frequency. The PAMO system conducts pressure-adaptive handwriting optimization using a dual-layer optimization framework and includes a second-order Kalman filter for real-time denoising and position prediction and Cubic B-spline interpolation to ensure G2 and C2 continuity. The PAMO system significantly improves trajectory smoothness, achieving a 42.7% reduction in the standard deviation of curvature for straight lines (0.201 vs 0.351 for the baseline system) and a 42.0% reduction for circles (0.283 vs 0.488 for the baseline system). The one-step prediction function of the PAMO system reduced end-to-end latency to 16.9 ms, showing an 8.5 ms improvement over the baseline system. By mapping dynamic grip features, such as total grip force, center of pressure, and pressure gradient, to morphological stroke parameters, the PAMO system represents a significant advancement toward approximating the nuanced physical reality of traditional artistic expression.  \n1. Introduction  \nWith the advancement of digital technology, digital painting and handwriting have become indispensable in artistic creation, industrial design, online education, and mobile offices.(1,2) Devices such as Wacom styluses and Apple Pencils have enhanced the naturalness of human– computer interaction. An essential technology underlying these devices is handwriting simulation based on single-point pressure sensing.(3,4) By detecting the vertical pressure exerted by the pen tip on the screen, these devices present corresponding line thickness and color depth, providing the experience of traditional calligraphy and painting. However, such a single-point pressure-sensing system presents inherent limitations.  \n* Corresponding author: e-mail: [2013024@wtu.edu.cn](2013024@wtu.edu.cn)[ ](2013024@wtu.edu.cn)[https://doi.org/10.18494/SAM6237](https://doi.org/10.18494/SAM6237)  \nISSN 0914-4935 © MYU K.K.  \n[https://myukk.org/](https://myukk.org/)  \n1676 Sensors and Materials, Vol. 38, No. 3 (2026)  \nFirst, it does not capture the information associated with pen-holding posture and grip technique. In traditional calligraphy and painting, artists sophisticatedly control brush-tip shape, ink intensity, and line texture by adjusting grip tightness, tilt angle, and finger force distribution. For example, to produce a willow-leaf stroke that transitions from thin to thick and back to thin, vertical pressure must be delicately changed with perfect coordination between the wrist and fingers. Such multidimensional controls cannot be conducted using a single pressure sensor.(5,6)  \nSecond, hand tremors result in jagged edges or ripples during slow, fine strokes, which are regarded as high-frequency noises for an algorithm processing single-pressure sensor data. This degrades line smoothness and aesthetic quality. However, existing algorithms such as moving average may have smooth lines, but they can affect response speed and handwriting details, result","cbCaipsgokEBbkc0","https://ap.wps.com/l/cbCaipsgokEBbkc0","pdf",991656,1,19,"English","en",105,"# Introduction\n## Limitations of single-point pressure sensing\n## Related approaches and remaining challenges\n# Methods\n## Hardware architecture\n## Dual-layer optimization framework","[{\"question\":\"Why do single-point pressure sensing handwriting systems have limited performance?\",\"answer\":\"They cannot capture grip posture and technique information, and hand tremors introduce high-frequency noise that degrades stroke smoothness and aesthetics. They also rely on simplified physical and texture models, making it difficult to reproduce complex ink effects.\"},{\"question\":\"What sensors and sampling strategy does the PAMO system use?\",\"answer\":\"PAMO uses an intelligent stylus with a 128-unit flexible piezoresistive pressure sensor array (16×8). It captures high-dimensional grip force data at a 120 Hz sampling frequency to better reflect hand-device interactions.\"},{\"question\":\"How does PAMO denoise and predict pen trajectories in real time?\",\"answer\":\"PAMO applies a second-order Kalman filter for real-time denoising and position prediction. It also uses Cubic B-spline interpolation to maintain G2 and C2 continuity for smoother trajectories.\"}]","Handwriting Optimization System Using Pressure Sensor Array for Touch-type Digital Painting - PAMO | PDF",1787567496,48,{"code":4,"msg":31,"data":32},"ok",{"site_id":24,"language":23,"slug":33,"title":13,"keywords":34,"description":14,"schema_data":35,"social_meta":86,"head_meta":88,"extra_data":90,"updated_unix":28},"handwriting-optimization-system-using-pressure-sensor-array-for-touch-type-digital-painting-pamo","",{"@graph":36,"@context":85},[37,54,68],{"@type":38,"itemListElement":39},"BreadcrumbList",[40,44,48,51],{"item":41,"name":42,"@type":43,"position":20},"https://docshare.wps.com","Home","ListItem",{"item":45,"name":46,"@type":43,"position":47},"https://docshare.wps.com/document/","Document",2,{"item":49,"name":12,"@type":43,"position":50},"https://docshare.wps.com/document/technology/",3,{"item":52,"name":13,"@type":43,"position":53},"https://docshare.wps.com/document/handwriting-optimization-system-using-pressure-sensor-array-for-touch-type-digital-painting-pamo/140078/",4,{"url":52,"name":13,"@type":55,"author":56,"headline":13,"publisher":58,"fileFormat":61,"inLanguage":23,"description":14,"dateModified":62,"datePublished":62,"encodingFormat":61,"isAccessibleForFree":63,"interactionStatistic":64},"DigitalDocument",{"name":9,"@type":57},"Person",{"url":41,"name":59,"@type":60},"DocShare","Organization","application/pdf","2026-08-24",true,{"@type":65,"interactionType":66,"userInteractionCount":4},"InteractionCounter",{"@type":67},"ViewAction",{"@type":69,"mainEntity":70},"FAQPage",[71,77,81],{"name":72,"@type":73,"acceptedAnswer":74},"Why do single-point pressure sensing handwriting systems have limited performance?","Question",{"text":75,"@type":76},"They cannot capture grip posture and technique information, and hand tremors introduce high-frequency noise that degrades stroke smoothness and aesthetics. They also rely on simplified physical and texture models, making it difficult to reproduce complex ink effects.","Answer",{"name":78,"@type":73,"acceptedAnswer":79},"What sensors and sampling strategy does the PAMO system use?",{"text":80,"@type":76},"PAMO uses an intelligent stylus with a 128-unit flexible piezoresistive pressure sensor array (16×8). It captures high-dimensional grip force data at a 120 Hz sampling frequency to better reflect hand-device interactions.",{"name":82,"@type":73,"acceptedAnswer":83},"How does PAMO denoise and predict pen trajectories in real time?",{"text":84,"@type":76},"PAMO applies a second-order Kalman filter for real-time denoising and position prediction. It also uses Cubic B-spline interpolation to maintain G2 and C2 continuity for smoother trajectories.","https://schema.org",{"og:url":52,"og:type":87,"og:title":13,"og:site_name":59,"og:description":14},"article",{"robots":89,"canonical":52},"index,follow",{"doc_id":7,"site_id":24},{"code":4,"msg":5,"data":92},[93,97,101,105,110,113,118,123,128,131,135],{"id":20,"doc_module":4,"doc_module_name":46,"category_name":94,"show_sort_weight":95,"slug":96},"Story & Novel",90,"story-novel",{"id":47,"doc_module":4,"doc_module_name":46,"category_name":98,"show_sort_weight":99,"slug":100},"Literature",80,"literature",{"id":53,"doc_module":4,"doc_module_name":46,"category_name":102,"show_sort_weight":103,"slug":104},"Exam",70,"exam",{"id":106,"doc_module":4,"doc_module_name":46,"category_name":107,"show_sort_weight":108,"slug":109},5,"Comic",60,"comic",{"id":11,"doc_module":4,"doc_module_name":46,"category_name":12,"show_sort_weight":111,"slug":112},50,"technology",{"id":114,"doc_module":4,"doc_module_name":46,"category_name":115,"show_sort_weight":116,"slug":117},7,"Healthcare",40,"healthcare",{"id":119,"doc_module":4,"doc_module_name":46,"category_name":120,"show_sort_weight":121,"slug":122},8,"Research & Report",30,"research-report",{"id":124,"doc_module":4,"doc_module_name":46,"category_name":125,"show_sort_weight":126,"slug":127},9,"Religion & Spirituality",20,"religion-spirituality",{"id":126,"doc_module":4,"doc_module_name":46,"category_name":129,"show_sort_weight":126,"slug":130},"World Cup","world-cup",{"id":132,"doc_module":4,"doc_module_name":46,"category_name":133,"show_sort_weight":132,"slug":134},10,"Lifestyle","lifestyle",{"id":21,"doc_module":4,"doc_module_name":46,"category_name":136,"show_sort_weight":106,"slug":137},"General","general"]