[{"data":1,"prerenderedAt":-1},["ShallowReactive",2],{"doc-detail-155894-en":3,"doc-seo-155894-105":31,"detail-sidebar-cat-0-en-105":98},{"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":20,"is_deleted":4,"is_public":21,"is_downloadable":21,"audit_status":21,"page_count":22,"language":23,"language_code":24,"site_id":25,"html_lang":24,"table_of_contents":26,"faqs":27,"seo_title":28,"seo_description":14,"update_tm":29,"read_time":30,"preview_page_count":4},155894,19241457091524,"Gelato","https://us-avatar.wpscdn.com/davatar_276721f389ce27ea32af1340a28f341c",8,"Research & Report","Print-A-Sketch - A Handheld Printer for Physical Sketching of Circuits and Sensors on Everyday Surfaces","Print-A-Sketch is an open-source handheld printer prototype for sketching circuits and sensors directly onto everyday materials. The system merges free-hand sketching expressiveness with functional printed electronics by augmenting large, manual strokes with computer-controlled fine-detail printing. Shared control supports interactive interface creation on diverse objects, including materials and sizes that are otherwise hard to print on. Context-aware, dynamic printing and continuous sensing improve quality by adapting inking rate to hand motion and material properties while enabling incremental, iterative sketching. Results demonstrate good conductivity and high spatial precision.","Print-A-Sketch: A Handheld Printer for Physical Sketching of Circuits and Sensors on Everyday Surfaces  \nNarjes Pourjafarian 1 , Marion Koelle 1 , Fjolla Mjaku 1 , Paul Strohmeier 1,2 , Jürgen Steimle 1  \n1 Saarland University, Saarland Informatics Campus, Saarbrücken, Germany.  \n2Max Planck Institute for Informatics, Saarland Informatics Campus, Saarbrücken, Germany.  \n[1](1 {lastname}@cs.uni-saarland.de)[ {lastname}@cs.uni-saarland.de](1 {lastname}@cs.uni-saarland.de), [2](2 paul.strohmeier@mpi-inf.mpg.de)[ paul.strohmeier@mpi-inf.mpg.de](2 paul.strohmeier@mpi-inf.mpg.de)  \nFigure 1: Print-A-Sketch uses a handheld printer (a) to create high-resolution conductive traces and circuits on everyday materials (b). It integrates the expressiveness of sketching with computational support (c), for direct fabrication of interactive interfaces on everyday surfaces and objects, such as this yoga mat (d).  \nABSTRACT  \nWe present Print-A-Sketch, an open-source handheld printer prototype for sketching circuits and sensors. Print-A-Sketch combines desirable properties from free-hand sketching and functional electronic printing. Manual human control of large strokes is augmented with computer control of fine detail. Shared control of Print-A-Sketch supports sketching interactive interfaces on everyday objects – including many objects with materials or sizes which otherwise are difficult to print on. We present an overview of challenges involved in such a system and show how these can be addressed using context-aware, dynamic printing. Continuous sensing ensures quality prints by adjusting inking-rate to hand movement and material properties. Continuous sensing also enables the print to adapt to previously printed traces to support incremental and iterative sketching. Results show good conductivity on many materials and high spatial precision, supporting on-the-fly creation of functional interfaces.  \nCCS CONCEPTS  \n• Human-centered computing → Interaction devices.  \nThis work is licensed under a Creative Commons Attribution-NonCommercial International 4.0 License.  \nCHI’22, April 29-May 5, 2022, New Orleans, LA, USA © 2022 Copyright held by the owner/author(s) .  \nACM ISBN 978-1-4503-9157-3/22/04 .  \n[https://doi.org/10.1145/3491102.3502074](https://doi.org/10.1145/3491102.3502074)  \nKEYWORDS  \nFabrication, prototyping, printed electronics, conductive inkjet printing, sketching interfaces, new materials  \nACM Reference Format:  \nNarjes Pourjafarian1 , Marion Koelle1 , Fjolla Mjaku1 , Paul Strohmeier1,2 , Jürgen Steimle1. 2022. Print-A-Sketch: A Handheld Printer for Physical Sketching of Circuits and Sensors on Everyday Surfaces. In CHI Conference on Human Factors in Computing Systems (CHI’22), April 29-May 5, 2022, New Orleans, LA, USA. ACM, New York, NY, USA, 17 pages. [https:](https:)//[doi.org/10.1145/3491102.3502074](doi.org/10.1145/3491102.3502074)  \n1 INTRODUCTION  \nSketching in hardware (e.g.: [34, 50]) is becoming increasingly important for designing interactive objects that are embedded in our environment. Sketching in hardware captures not only the look and feel of such an object, but also how one might interact with it [20] . If this hardware sketch is created directly on the object where it will be used, effects of the object’s affordances and physical environment on the interaction can also be experienced. Like physical sketching with pen and paper, situated sketching in hardware is usually a practice based on physical craft and skill, such as paperwork [50], textile crafts [19, 24, 29], or body art [47, 63] .  \nManual methods support expressive and creative design (e.g.: [2, 15]) . However, they come with limitations in terms of both fabrication speed and precision: manual processes are poorly suited for interfacing with the miniature world of discrete components and embedded circuits. Printing, on the other hand, can be used to create complex [41] and high-resolution [18] electronics, and do so rapidly [26]. However, printing ","cbCairUUfRRbck1w","https://ap.wps.com/l/cbCairUUfRRbck1w","pdf",7141060,10,1,17,"English","en",105,"# Abstract\n# Introduction\n## Hardware sketching and the need for precision\n## Printing vs. expressiveness in sketching methods\n# System Overview\n## Shared control for circuit and sensor sketching","[{\"question\":\"What is Print-A-Sketch, and what problem does it address?\",\"answer\":\"Print-A-Sketch is an open-source handheld printer prototype for sketching circuits and sensors directly on everyday surfaces. It addresses the trade-off between expressive hardware sketching and the precision and complexity needed for miniaturized components and embedded circuits.\"},{\"question\":\"How does the system improve print quality during free-hand use?\",\"answer\":\"It uses continuous sensing to adjust the inking rate based on hand movement and the target material properties. This supports consistent, high-quality conductive traces while printing.\"},{\"question\":\"What enables incremental and iterative sketching with Print-A-Sketch?\",\"answer\":\"Continuous sensing lets the printer adapt to previously printed traces. This supports adding to and refining earlier sketch elements without losing alignment or quality.\"}]","Print-A-Sketch - A Handheld Printer for Physical Sketching of Circuits and Sensors on Everyday Surfaces | PDF",1787940718,43,{"code":4,"msg":32,"data":33},"ok",{"site_id":25,"language":24,"slug":34,"title":13,"keywords":35,"description":14,"schema_data":36,"social_meta":93,"head_meta":95,"extra_data":97,"updated_unix":29},"print-a-sketch-a-handheld-printer-for-physical-sketching-of-circuits-and-sensors-on-everyday-surfaces","",{"@graph":37,"@context":92},[38,55,75],{"@type":39,"itemListElement":40},"BreadcrumbList",[41,45,49,52],{"item":42,"name":43,"@type":44,"position":21},"https://docshare.wps.com","Home","ListItem",{"item":46,"name":47,"@type":44,"position":48},"https://docshare.wps.com/document/","Document",2,{"item":50,"name":12,"@type":44,"position":51},"https://docshare.wps.com/document/research-report/",3,{"item":53,"name":13,"@type":44,"position":54},"https://docshare.wps.com/document/print-a-sketch-a-handheld-printer-for-physical-sketching-of-circuits-and-sensors-on-everyday-surfaces/155894/",4,{"url":53,"name":13,"@type":56,"image":57,"author":62,"headline":13,"publisher":64,"fileFormat":67,"inLanguage":24,"description":14,"dateModified":68,"datePublished":69,"encodingFormat":67,"isAccessibleForFree":70,"interactionStatistic":71},"DigitalDocument",{"url":58,"@type":59,"width":60,"height":61},"https://docshare.wps.com/thumbnails/print-a-sketch-a-handheld-printer-for-physical-sketching-of-circuits-and-sensors-on-everyday-surfaces/155894.png","ImageObject",300,407,{"name":9,"@type":63},"Person",{"url":42,"name":65,"@type":66},"DocShare","Organization","application/pdf","2026-10-30","2026-08-28",true,{"@type":72,"interactionType":73,"userInteractionCount":20},"InteractionCounter",{"@type":74},"ViewAction",{"@type":76,"mainEntity":77},"FAQPage",[78,84,88],{"name":79,"@type":80,"acceptedAnswer":81},"What is Print-A-Sketch, and what problem does it address?","Question",{"text":82,"@type":83},"Print-A-Sketch is an open-source handheld printer prototype for sketching circuits and sensors directly on everyday surfaces. It addresses the trade-off between expressive hardware sketching and the precision and complexity needed for miniaturized components and embedded circuits.","Answer",{"name":85,"@type":80,"acceptedAnswer":86},"How does the system improve print quality during free-hand use?",{"text":87,"@type":83},"It uses continuous sensing to adjust the inking rate based on hand movement and the target material properties. This supports consistent, high-quality conductive traces while printing.",{"name":89,"@type":80,"acceptedAnswer":90},"What enables incremental and iterative sketching with Print-A-Sketch?",{"text":91,"@type":83},"Continuous sensing lets the printer adapt to previously printed traces. 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