Abstract
The use of pens in human-computer interaction has been investigated since Ivan Sutherland’s Sketchpad graphical communication system in the early 1960s. We provide an overview of the major developments in pen-based interaction over the last six decades and compare different hardware solutions and pen-tracking techniques. In addition to pen-based interaction with digital devices, we discuss more recent digital pen and paper solutions where pen- and paper-based interaction is augmented with digital information and services. We outline different interface and interaction styles and present various academic as well as commercial application domains where pen-based interaction has been successfully applied. Furthermore, we discuss several issues to be considered when designing pen-based interactions and conclude with an outlook of potential future challenges and directions for pen-based human-computer interaction.
References
Aliakseyeu D, Nacenta MA, Subramanian S, Gutwin C (2006) Bubble Radar: efficient pen-based interaction. In: Proceedings of the working conference on advanced visual interfaces (AVI 2006), Venezia, pp 19–26. https://doi.org/10.1145/1133265.1133271
Annett MK (2014) The fundamental issues of pen-based interaction with tablet devices. PhD thesis, University of Alberta
Berque D, Bonebright T, Whitesell M (2004) Using pen-based computers across the computer science curriculum. In: Proceedings of the 35th SIGCSE technical symposium on computer science education (SIGCSE 2004), Norfolk, pp 61–65. https://doi.org/10.1145/1028174.971324
Bi X, Moscovich T, Ramos G, Balakrishnan R, Hinckley K (2008) An exploration of pen rolling for pen-based interaction. In: Proceedings of the 21st annual ACM symposium on user interface software and technology (UIST 2008), pp 191–200. https://doi.org/10.1145/1449715.1449745
Bush V (1945) As we may think. Atlantic Mon 176(1):101–108. https://doi.org/10.1145/227181.227186
Buxton W (1990) A three-state model of graphical input. In: Proceedings of the 3rd international conference on human-computer interaction (INTERACT 1990), Cambridge, pp 449–456
Carr R, Shafer D (1991) The power of PenPoint. Addison Wesley, Boston, MA, USA
Chee YM et al (2011) Ink Markup Language (InkML). W3C Recommendation. https://www.w3.org/TR/InkML
Cohen PR, Oviatt S (2017) Multimodal speech and pen interfaces. Association for Computing Machinery and Morgan & Claypool, pp 403–447. https://doi.org/10.1145/3015783.3015795
Davis MR, Ellis TO (1964) The RAND tablet: a man-machine graphical communication device. In: Proceedings of the fall joint computer conference (AFIPS 1964), San Francisco, pp 325–331. https://doi.org/10.1145/1464052.1464080
Dimond TL (1957) Devices for reading handwritten characters. In: Proceedings of the eastern joint computer conference: computers with deadlines to meet (RE-ACM-AIEE 1957), Washington, DC, pp 232–237. https://doi.org/10.1145/1457720.1457765
Drey T, Gugenheimer J, Karlbauer J, Milo M, Rukzio E (2020) VRSketchIn: exploring the design space of pen and tablet interaction for 3D sketching in virtual reality. In: Proceedings of the ACM conference on human factors in computing systems (CHI 2020). https://doi.org/10.1145/3313831.3376628
Everitt KM, Klemmer SR, Lee R, Landay JA (2003) Two worlds apart: bridging the gap between physical and virtual media for distributed design collaboration. In: Proceedings of the ACM conference on human factors in computing systems (CHI 2003), Fort Lauderdale, pp 553–560. https://doi.org/10.1145/642611.642707
Fellion N, Pietrzak T, Girouard A (2017) FlexStylus: leveraging bend input for pen interaction. In: Proceedings of the ACM symposium on user interface software and technology (UIST 2017), Quebec City, pp 375–385. https://doi.org/10.1145/3126594.3126597
Forster B (2001) Writing to the future. Computerworld, Needham, MA, USA
Goldberg HE (1914) Controller. US Patent 1,117,184
Gray E (1888) Telautograph. US Patent 386,815
Grossman T, Hinckley K, Baudisch P, Agrawala M, Balakrishnan R (2006) Hover widgets: using the tracking state to extend the capabilities of pen-operated devices. In: Proceedings of the ACM conference on human factors in computing systems (CHI 2006), Montréal, pp 861–870. https://doi.org/10.1145/1124772.1124898
Hahne U, Schild J, Elstner S, Alexa M (2009) Multi-touch Focus+Context sketch-based interaction. In: Proceedings of the 6th Eurographics symposium on sketch-based interfaces and modeling (SBIM 2009), New Orleans, pp 77–83. https://doi.org/10.1145/1572741.1572755
Haller M, Brandl P, Leithinger D, Leitner J, Seifried T, Billinghurst M (2006) Shared design space: sketching ideas using digital pens and a large augmented tabletop setup. In: Proceedings of the 16th international conference on artificial reality and telexistence (ICAT 2006), Hangzhou, pp 185–196. https://doi.org/10.1007/11941354_20
Hammond T, Davis R (2005) LADDER, a sketching language for user interface developers. Comput Graph 29(4):518–532. https://doi.org/10.1145/1281500.1281546
Heinrichs FHF (2015) Mobile pen-and-paper interaction: infrastructure design, conceptual frameworks of interaction and interaction theory. PhD thesis, Technical University of Darmstadt
Hinckley K, Zhao S, Sarin R, Baudisch P, Cutrell E, Shilman M, Tan D (2007) InkSeine: in situ search for active note taking. In: Proceedings of the ACM conference on human factors in computing systems (CHI 2007), San Jose, pp 251–260. https://doi.org/10.1145/1240624.1240666
Hinckley K, Pahud M, Benko H, Irani P, Guimbretière F, Gavriliu M, Chen XA, Matulic F, Buxton W, Wilson A (2014) Sensing techniques for Tablet+Stylus interaction. In: Proceedings of the 27th annual ACM symposium on user interface software and technology (UIST 2014), Honolulu, pp 605–614. https://doi.org/10.1145/2642918.2647379
Hofer R, Kunz A (2010) Digisketch: taming anoto technology on LCDs. In: Proceedings of the ACM symposium on engineering interactive computing systems (EICS 2010), Berlin, pp 103–108. https://doi.org/10.1145/1822018.1822034
Hwang S, Bianchi A, Ahn M, Wohn K (2013) MagPen: magnetically driven pen interactions on and around conventional smartphones. In: Proceedings of the 15th international conference on human-computer interaction with mobile devices and services (MobileHCI 2013), Munich, pp 412–415. https://doi.org/10.1145/2493190.2493194
Ispas A (2011) Beyond the digital capture of paper notes: investigations of enhanced natural notetaking based on digital pen and paper technology. PhD thesis, ETH Zurich. https://doi.org/10.3929/ethz-a-007139493, dissertation ETH No. 20157
Kam M, Wang J, Iles A, Tse E, Chiu J, Glaser D, Tarshish O, Canny J (2005) Livenotes: a system for cooperative and augmented note-taking in lectures. In: Proceedings of the ACM conference on human factors in computing systems (CHI 2005), Portland, pp 531–540. https://doi.org/10.1145/1054972.1055046
Kay A, Goldberg A (1977) Personal dynamic media. Computer 10(3):31–41
Klamka K, Dachselt R (2017) IllumiPaper: illuminated interactive paper. In: Proceedings of the ACM conference on human factors in computing systems (CHI 2017), Denver, pp 5605–5618. https://doi.org/10.1145/3025453.3025525
Koike H, Sato Y, Kobayashi Y (2001) Integrating paper and digital information on EnhancedDesk: a method for realtime finger tracking on an augmented desk system. ACM Trans Comput-Hum Interact 8(4):307–322. https://doi.org/10.1145/504704.504706
Kurtenbach G, Buxton W (1994) User learning and performance with marking menus. In: Proceedings of the ACM conference on human factors in computing systems (CHI 1994), Boston, pp 258–264. https://doi.org/10.1145/191666.191759
Levine SR, Ehrlich SF (1991) The freestyle system. Springer, Boston, pp 3–21. https://doi.org/10.1007/978-1-4684-5883-1_1
Li Z, Annett M, Hinckley K, Singh K, Wigdor D (2019) HoloDoc: enabling mixed reality workspaces that harness physical and digital content. In: Proceedings of the ACM conference on human factors in computing systems (CHI 2019), Glasgow, pp 1–14. https://doi.org/10.1145/3290605.3300917
Liao C (2009) PapierCraft: a paper-based interface to support interaction with digital documents. PhD thesis, University of Maryland
Luff P, Adams G, Bock W, Drazin A, Frohlich D, Heath C, Herdman P, King H, Linketscher N, Murphy R, Norrie MC, Sellen A, Signer B, Tallyn E, Zeller E (2007) Augmented paper: developing relationships between digital content and paper. The disappearing computer: interaction design, system infrastructures and applications for smart environments. LNCS 4500:275–297. https://doi.org/10.1007/978-3-540-72727-9
Mackay WE, Pothier G, Letondal C, Bøegh K, Sørensen HE (2002) The missing link: augmenting biology laboratory notebooks. In: Proceedings of the 15th annual ACM symposium on user interface software and technology (UIST 2002), Paris, pp 41–50. https://doi.org/10.1145/571985.571992
Magrofuoco N, Roselli P, Vanderdonckt J (2021) Two-dimensional stroke gesture recognition: a survey. ACM Comput Surv 54(7). https://doi.org/10.1145/3465400
Maierhöfer V, Schmid A, Wimmer R (2024) TipTrack: precise, low-latency, robust optical pen tracking on arbitrary surfaces using an IR-emitting pen tip. In: Proceedings of the 18th international conference on tangible, embedded, and embodied interaction (TEI 2024), Cork. https://doi.org/10.1145/3623509.3633366
Matulic F, Norrie MC (2013) Pen and touch gestural environment for document editing on interactive tabletops. In: Proceedings of the ACM international conference on interactive tabletops and surfaces (ITS 2013), St. Andrews, pp 41–50. https://doi.org/10.1145/2512349.2512802
Matulic F, Arakawa R, Vogel B, Vogel D (2020) PenSight: enhanced interaction with a pen-top camera. In: Proceedings of the ACM conference on human factors in computing systems (CHI 2020), pp 1–14. https://doi.org/10.1145/3313831.3376147
Microsoft (2021) Application gestures and semantic behavior. https://learn.microsoft.com/en-us/windows/win32/tablet/application-gestures-and-semantic-behavior
Moran TP, Chiu P, van Melle W (1997) Pen-based interaction techniques for organizing material on an electronic whiteboard. In: Proceedings of the 10th annual ACM symposium on user interface software and technology (UIST 1997), Banff, pp 45–54. https://doi.org/10.1145/263407.263508
Mueller PA, Oppenheimer DM (2014) The pen is mightier than the keyboard: advantages of longhand over laptop note taking. Psychol Sci 25(6):1159–1168. https://doi.org/10.1177/0956797614524581
Norrie MC, Signer B, Grossniklaus M, Belotti R, Decurtins C, Weibel N (2007) Context-aware platform for mobile data management. Wirel Netw (WINET) 13(6):855–870. https://doi.org/10.1007/s11276-006-9858-y
Pfeuffer K, Hinckley K, Pahud M, Buxton B (2017) Thumb + Pen interaction on tablets. In: Proceedings of the ACM conference on human factors in computing systems (CHI 2017), Denver, pp 3254–3266. https://doi.org/10.1145/3025453.3025567
Pham DM, Stuerzlinger W (2019) Is the pen mightier than the controller? A comparison of input devices for selection in virtual and augmented reality. In: Proceedings of the 25th ACM symposium on virtual reality software and technology (VRST 2019), Parramatta, pp 1–11. https://doi.org/10.1145/3359996.3364264
Ramos GA, Balakrishnan R (2007) Pressure marks. In: Proceedings of the ACM conference on human factors in computing systems (CHI 2007), San Jose, pp 1375–1384. https://doi.org/10.1145/1240624.1240834
Rekimoto J (1998) A multiple device approach for supporting whiteboard-based interactions. In: Proceedings of the ACM conference on human factors in computing systems (CHI 1998), Los Angeles, pp 344–351. https://doi.org/10.1145/274644.274692
Riche Y, Henry Riche N, Hinckley K, Panabaker S, Fuelling S, Williams S (2017) As we may ink? Learning from everyday analog pen use to improve digital ink experiences. In: Proceedings of the ACM conference on human factors in computing systems (CHI 2017), Denver, pp 3241–3253. https://doi.org/10.1145/3025453.3025716
Romat H, Riche NH, Hinckley K, Lee B, Appert C, Pietriga E, Collins C (2019) ActiveInk: (Th)Inking with data. In: Proceedings of the ACM conference on human factors in computing systems (CHI 2019), Glasgow, pp 1–13. https://doi.org/10.1145/3290605.3300272
Schilit BN, Golovchinsky G, Price MN (1998) Beyond paper: supporting active reading with free form digital ink annotations. In: Proceedings of the ACM conference on human factors in computing systems (CHI 1998), Los Angeles, pp 249–256. https://doi.org/10.1145/274644.274680
Sellen AJ, Harper R (2001) The myth of the paperless office. MIT Press, Cambridge, MA, USA
Signer B (2005) Fundamental concepts for interactive paper and cross-media information spaces. PhD thesis, ETH Zurich. https://doi.org/10.3929/ethz-a-005174378, dissertation ETH No. 16218
Signer B (2019) Towards cross-media information spaces and architectures. In: Proceedings of the 13th international conference on research challenges in information science (RCIS 2019), Brussels, pp 1–7. https://doi.org/10.1109/RCIS.2019.8877105
Signer B, Norrie MC (2007) PaperPoint: a paper-based presentation and interactive paper prototyping tool. In: Proceedings of the 1st international conference on tangible and embedded interaction (TEI 2007), Baton Rouge, pp 57–64. https://doi.org/10.1145/1226969.1226981
Signer B, Norrie MC (2010) Interactive paper: past, present and future. In: Proceedings of the 1st international workshop on paper computing (PaperComp 2010), Copenhagen
Signer B, Kurmann U, Norrie MC (2007) iGesture: a general gesture recognition framework. In: Proceedings of the 9th international conference on document analysis and recognition (ICDAR 2007), Curitiba, pp 954–958. https://doi.org/10.1109/ICDAR.2007.4377056
Song H, Grossman T, Fitzmaurice G, Guimbretière F, Khan A, Attar R, Kurtenbach G (2009) PenLight: combining a mobile projector and a digital pen for dynamic visual overlay. In: Proceedings of the ACM conference on human factors in computing systems (CHI 2009), Boston, pp 143–152. https://doi.org/10.1145/1518701.1518726
Steimle J (2012) Pen-and-paper user interfaces: integrating printed and digital documents. Springer, Heidelberg, Germany
Stifelman LJ, Arons B, Schmandt C (2001) The audio notebook: paper and pen interaction with structured speech. In: Proceedings of the ACM conference on human factors in computing systems (CHI 2001), Seattle, pp 182–189. https://doi.org/10.1145/365024.365096
Subramonyam H, Seifert C, Shah P, Adar E (2020) texSketch: active diagramming through pen-and-ink annotations. In: Proceedings of the ACM conference on human factors in computing systems (CHI 2020), Honolulu, pp 1–13. https://doi.org/10.1145/3313831.3376155
Sutherland IE (1963) Sketchpad: a man-machine graphical communication system. PhD thesis, Massachusetts Institute of Technology
Tabard A (2009) Supporting lightweight reflection on familiar information. PhD thesis, Université Paris-Sud
Vogelsang A, Signer B (2005) The lost cosmonaut: an interactive narrative environment on basis of digitally enhanced paper. In: Proceedings of the international conference on virtual storytelling 2005, Strasbourg, pp 270–279. https://doi.org/10.1007/11590361_31
Walny J, Lee B, Johns P, Riche N, Carpendale S (2012) Understanding pen and touch interaction for data exploration on interactive whiteboards. IEEE Trans Vis Comput Graph 18(12):2779–2788. https://doi.org/10.1145/2642918.2647379
Van der Weel F, Van der Meer A (2024) Handwriting but not typewriting leads to widespread brain connectivity: a high-density EEG study with implications for the classroom. Front Psychol 14. https://doi.org/10.3389/fpsyg.2023.1219945
Weibel N (2009) A publishing infrastructure for interactive paper documents: supporting interactions across the paper-digital divide. PhD thesis, ETH Zurich. https://doi.org/10.3929/ethz-a-005886877, dissertation ETH No. 18514
Weibel N, Norrie MC, Signer B (2007) A model for mapping between printed and digital document instances. In: Proceedings of the ACM symposium on document engineering (DocEng 2007), Winnipeg, pp 19–28. https://doi.org/10.1145/1284420.1284428
Weibel N, Signer B, Norrie MC, Hofstetter H, Jetter HC, Reiterer H (2011) PaperSketch: a paper-digital collaborative remote sketching tool. In: Proceedings of the international conference on intelligent user interfaces (IUI 2011), Palo Alto, pp 155–164. https://doi.org/10.1145/1943403.1943428
Weiser M (1991) The computer for the 21st century. Sci Am 265(3):3–11
Wellner P (1993) Interacting with paper on the DigitalDesk. Commun ACM 36(7):87–96. https://doi.org/10.1145/159544.159630
Xin Y, Bi X, Ren X (2011) Acquiring and pointing: an empirical study of pen-tilt-based interaction. In: Proceedings of the ACM conference on human factors in computing systems (CHI 2011), Vancouver, pp 849–858. https://doi.org/10.1145/1978942.1979066
Yeh RB (2007) Designing interactions that combine pen, paper, and computer. PhD thesis, Stanford University
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2025 Springer Nature Switzerland AG
About this entry
Cite this entry
Signer, B. (2025). Pen-Based Interaction. In: Vanderdonckt, J., Palanque, P., Winckler, M. (eds) Handbook of Human Computer Interaction. Springer, Cham. https://doi.org/10.1007/978-3-319-27648-9_102-1
Download citation
DOI: https://doi.org/10.1007/978-3-319-27648-9_102-1
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-27648-9
Online ISBN: 978-3-319-27648-9
eBook Packages: Living Reference Computer SciencesReference Module Computer Science and Engineering