This paper proposes a pen-based interaction system with 2D co-located haptic and visual feedback for physics education. The system combines a 3DOF pen-based planar haptic device and simulated 2D physical world based on physical engine Box 2D and 2D game engine HGE. The inputs of haptic device are translation and rotation of pen tip and the outputs are translational and rotational force displayed at pen tip. In addition, visual display and haptic display are coincident and well integrated. With this system, user can create and design simulated physical world by drawing, selecting, moving or rotating objects on screen and setting their physical properties in a natural and intuitive way. This system provides an entertaining and cartoony tool for designing and carrying out physics experiments, and will greatly promote students' learning interest and creativity.
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