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| **Definition and Function:** A **3D stylus** (also called a VR or 3D pen) is a pen-shaped input device that tracks motion in three-dimensional space, offering finer control than a standard 2D stylus or a generic VR controller. For example, the Massless Pen (shown below) is a tracked stylus used with VR headsets ([Massless Introduces Massless Pen VR Peripheral For 3D Modelling, CAD Professionals | Tom's Hardware](https://www.tomshardware.com/news/massless-pen-vr-cad-peripheral,34629.html#:~:text=Massless%20Corporation%E2%80%99s%20solution%20is%20a,you%20draw%20in%203D%20space)). Unlike a traditional 2D stylus (which can only move on a flat tablet surface), a 3D stylus has six degrees of freedom (3D position plus orientation) and is often equipped with buttons or touchpads to select or draw in virtual space ([Comparison of a VR Stylus with a Controller, Hand Tracking, and a Mouse for Object Manipulation and Medical Marking Tasks in Virtual Reality](https://www.mdpi.com/2076-3417/13/4/2251#:~:text=A%20VR%20stylus%20is%20a,Batmaz)) ([Massless Introduces Massless Pen VR Peripheral For 3D Modelling, CAD Professionals | Tom's Hardware](https://www.tomshardware.com/news/massless-pen-vr-cad-peripheral,34629.html#:~:text=Massless%20Corporation%E2%80%99s%20solution%20is%20a,you%20draw%20in%203D%20space)). In practice, a 3D stylus can act like a mouse replacement or brush in a [[virtual reality]] scene. It enables precision tasks such as drawing, annotating, or manipulating 3D models that would be awkward with bulkier motion controllers.
| | = 3D stylus = |
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| ([GDC 2018: Massless Wants to Bring High-precision Stylus Input to VR](https://www.roadtovr.com/hands-on-massless-wants-to-bring-high-precision-stylus-input-to-vr-gdc-2018/)) *Figure: The Massless Pen 3D stylus (foreground) used with an Oculus Rift VR headset and controller ([Massless Introduces Massless Pen VR Peripheral For 3D Modelling, CAD Professionals | Tom's Hardware](https://www.tomshardware.com/news/massless-pen-vr-cad-peripheral,34629.html#:~:text=Massless%20Corporation%E2%80%99s%20solution%20is%20a,you%20draw%20in%203D%20space)).* A 3D stylus is **pen-like and hand-held**, distinguishing it from fixed stylus on a tablet. It typically connects wirelessly (often via Bluetooth or a USB dongle) and may include haptic feedback. For instance, the Massless Pen uses stereo camera tracking and an inertial motion unit for sub-millimeter precision, and it even vibrates to let users “feel” virtual objects ([Massless Introduces Massless Pen VR Peripheral For 3D Modelling, CAD Professionals | Tom's Hardware](https://www.tomshardware.com/news/massless-pen-vr-cad-peripheral,34629.html#:~:text=The%20Massless%20Pen%20offers%20precise,you%20%E2%80%9Cfeel%E2%80%9D%20your%203D%20model)). In summary, a 3D stylus extends the concept of a pen into full 3D space, providing an intuitive pointer that leverages users’ existing fine-motor skills (finger and hand movements) for digital creation and interaction ([VR stylus for digital art and design: everything you need to know | Creative Bloq](https://www.creativebloq.com/3d/draft-what-is-a-vr-stylus-and-who-needs-one#:~:text=So%2C%20we%27ve%20explained%20what%20a,into%20a%20new%20workflow%20future)) ([Comparison of a VR Stylus with a Controller, Hand Tracking, and a Mouse for Object Manipulation and Medical Marking Tasks in Virtual Reality](https://www.mdpi.com/2076-3417/13/4/2251#:~:text=A%20VR%20stylus%20is%20a,Batmaz)).
| | A '''3D stylus''' (sometimes called a *VR pen* or *spatial stylus*) is a pen-shaped input device that tracks motion in three-dimensional space, providing six degrees of freedom (3-DOF position + 3-DOF orientation). It enables precise pointing, drawing, and manipulation tasks that would be awkward with bulkier [[motion controllers]] or bare-hand tracking.<ref name="RoadToVR18"/> |
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| ## Core Technologies
| | [[File:MasslessPenVRStylus.jpg|thumb|The **Massless Pen** 3D stylus used with a VR headset<ref name="RoadToVR18"/>]] |
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| 3D styluses rely on several core technologies to sense their position, orientation, and provide feedback: | | Unlike a traditional 2D stylus confined to a tablet surface, a 3D stylus operates freely in mid-air (or against any physical prop) and often incorporates buttons, a pressure-sensitive tip, and haptic (vibrotactile or force) feedback.<ref name="CreativeBloq21"/> Some high-end models—such as the Massless Pen—achieve sub-millimetre accuracy by fusing optical tracking with inertial measurement units (IMUs).<ref name="Tomshardware21"/> |
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| - **Motion Tracking:** Most 3D styluses use a combination of tracking methods. **Optical tracking** is common: infrared or visible-light cameras (external or built into a headset) watch markers or LEDs on the stylus. For example, the Logitech VR Ink stylus uses SteamVR base stations (laser trackers) to determine its location, and Massless Pen uses an independent stereo camera plus reflective markers ([Massless Introduces Massless Pen VR Peripheral For 3D Modelling, CAD Professionals | Tom's Hardware](https://www.tomshardware.com/news/massless-pen-vr-cad-peripheral,34629.html#:~:text=The%20Massless%20Pen%20offers%20precise,you%20%E2%80%9Cfeel%E2%80%9D%20your%203D%20model)) ([Hands-on: Logitech is Building the VR Stylus That Needs to Exist](https://www.roadtovr.com/logitech-vr-ink-stylus-hands-on-steamvr-tracking/#:~:text=Logitech%20today%20revealed%20the%20VR,against%20a%20physical%20surface)). Many devices also include built-in **inertial sensors** (accelerometers and gyros) for smoothing motion or maintaining tracking when line-of-sight is lost ([Massless Introduces Massless Pen VR Peripheral For 3D Modelling, CAD Professionals | Tom's Hardware](https://www.tomshardware.com/news/massless-pen-vr-cad-peripheral,34629.html#:~:text=The%20Massless%20Pen%20offers%20precise,you%20%E2%80%9Cfeel%E2%80%9D%20your%203D%20model)). Some older or specialized systems used **electromagnetic tracking** (e.g. Polhemus/NDI trackers) to localize a stylus via changing magnetic fields – a method seen in surgical simulation setups. Wacom’s VR Pen, for instance, employs a custom **onboard optical tracker** and does not rely on standard VR base-stations or headset sensors ([Wacom Unveils VR Pen Built for "the next creative future"](https://www.roadtovr.com/wacom-unveils-vr-pen-built-next-creative-future/#:~:text=There%E2%80%99s%20still%20plenty%20left%20to,hoping%20to%20learn%20more%20soon)).
| | == Core technologies == |
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| - **Haptic Feedback:** Many 3D styluses provide tactile feedback to the user. This can be as simple as tiny vibration motors (LRAs or ERMs) or more advanced force feedback. The Massless Pen includes a haptic vibration motor so you “feel” the 3D model when manipulating it ([Massless Introduces Massless Pen VR Peripheral For 3D Modelling, CAD Professionals | Tom's Hardware](https://www.tomshardware.com/news/massless-pen-vr-cad-peripheral,34629.html#:~:text=The%20Massless%20Pen%20offers%20precise,you%20%E2%80%9Cfeel%E2%80%9D%20your%203D%20model)). The 3D Systems *Touch* haptic stylus (used in CAD and medical simulation) even provides three degrees of force feedback via motors ([Touch Haptic Device](https://www.3dsystems.com/haptics-devices/touch#:~:text=Touch%20is%20a%20motorized%20device,the%20realistic%20sense%20of%20touch)). Logitech’s VR Ink stylus similarly includes onboard haptic actuators for subtle buzzing ([Hands-on: Logitech is Building the VR Stylus That Needs to Exist](https://www.roadtovr.com/logitech-vr-ink-stylus-hands-on-steamvr-tracking/#:~:text=Though%20it%E2%80%99s%20%E2%80%98just%E2%80%99%20a%20stylus%2C,sensitive%20writing%20against%20physical%20surfaces)). Haptics help simulate touch, guide the user, or indicate contact with virtual surfaces.
| | ; Motion tracking |
| | : 3D styluses localise the pen in space via one or more of the following: |
| | * **Optical tracking** – LEDs or retro-reflective markers observed by external cameras or headset cameras (e.g. Massless Pen).<ref name="RoadToVR18"/> |
| | * **Laser tracking** – SteamVR base stations that sweep laser planes across photodiodes in the stylus (e.g. Logitech VR Ink).<ref name="RoadToVR19"/> |
| | * **Inside-out optical tracking** – an on-board camera in the stylus (e.g. Wacom VR Pen) so no external trackers are needed.<ref name="RoadToVR20"/> |
| | * **Electromagnetic (EM) tracking** – low-frequency magnetic fields measured by sensors in the stylus (common in surgical simulators). |
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| - **Wireless Communication:** To keep the stylus untethered, wireless links are used. Most modern 3D styluses use Bluetooth or proprietary RF. For example, the Massless Pen is fully wireless with about 3–4 hours of battery life ([Massless Introduces Massless Pen VR Peripheral For 3D Modelling, CAD Professionals | Tom's Hardware](https://www.tomshardware.com/news/massless-pen-vr-cad-peripheral,34629.html#:~:text=models%20in%20the%20air%20in,front%20of%20you)). Wacom’s VR Pen and Logitech’s VR Ink also operate wirelessly (often with a USB receiver). **Latency and update rate** are critical – high-end styluses push tracking data many times per second for smooth motion.
| | Inertial sensors are routinely fused with optical/EM data for robust 6-DOF pose estimation. |
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| - **Additional Sensors:** Some devices include **pressure sensitivity** (to vary stroke width) and **buttons/touch pads**. The Wacom VR Pen has a pressure-sensitive button and additional controls for tools selection ([Wacom Unveils VR Pen Built for "the next creative future"](https://www.roadtovr.com/wacom-unveils-vr-pen-built-next-creative-future/#:~:text=One%20of%20the%20major%20obstacles,difficult%20and%20inherently%20less%20precise)) ([Wacom Unveils VR Pen Built for "the next creative future"](https://www.roadtovr.com/wacom-unveils-vr-pen-built-next-creative-future/#:~:text=Wacom%20VR%20Pen%20also%20features,toggle%20on%20the%20knob%20itself)). Motion controllers often borrow these ideas, but styluses integrate them in a pen form factor to feel more natural for drawing or writing.
| | ; Haptic feedback |
| | : Many devices contain linear resonant actuators or rotary ERM motors that vibrate when the virtual tip contacts a surface; advanced desktop devices such as the 3D Systems *Touch* add 3-DOF force feedback via motors in a gimbal.<ref name="3DSystemsTouch"/> |
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| ## Applications
| | ; Wireless communication |
| | : Most modern pens connect over Bluetooth LE or proprietary 2.4 GHz links, sending pose data at 60 – 240 Hz. Battery lives typically range from 2 to 6 hours of continuous use.<ref name="RoadToVR18"/> |
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| 3D styluses span both **professional** and **consumer** domains:
| | == Applications == |
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| - **Professional CAD and Design:** Styluses are well-suited for 3D design tasks. Wacom’s Pro Pen 3D (for its Cintiq tablets) was specifically designed for CAD work, allowing navigation and precise input in software like SOLIDWORKS ([How Wacom Enhances Product Design And CAD - Wacom](https://community.wacom.com/en-us/how-wacom-enhances-product-design-and-cad/#:~:text=The%20Wacom%20Pro%20Pen%203D,learn%20more%20about%20Wacom%20pens)). The Massless Pen targets mechanical CAD and 3D modeling in VR, leveraging existing pen skills to make modeling “fast and accurate” ([Massless Introduces Massless Pen VR Peripheral For 3D Modelling, CAD Professionals | Tom's Hardware](https://www.tomshardware.com/news/massless-pen-vr-cad-peripheral,34629.html#:~:text=Massless%20Corporation%E2%80%99s%20solution%20is%20a,you%20draw%20in%203D%20space)) ([Massless Introduces Massless Pen VR Peripheral For 3D Modelling, CAD Professionals | Tom's Hardware](https://www.tomshardware.com/news/massless-pen-vr-cad-peripheral,34629.html#:~:text=The%20Massless%20Pen%20offers%20precise,you%20%E2%80%9Cfeel%E2%80%9D%20your%203D%20model)). Industrial designers use styluses to sketch concepts on 2D surfaces that seamlessly extend into 3D space ([Logitech VR Ink Stylus - Industrial Designers Society of America](https://www.idsa.org/awards-recognition/idea/idea-gallery/logitech-vr-ink-stylus/#:~:text=The%20Logitech%20VR%20Ink%20Pilot,flow%20uninterrupted%20into%20the%203D)). For example, Logitech’s VR Ink was promoted as enabling work on a physical sketchpad and then continuing seamlessly into a 3D scene ([Logitech VR Ink Stylus - Industrial Designers Society of America](https://www.idsa.org/awards-recognition/idea/idea-gallery/logitech-vr-ink-stylus/#:~:text=The%20Logitech%20VR%20Ink%20Pilot,flow%20uninterrupted%20into%20the%203D)).
| | * '''Professional CAD & Industrial Design''' – Wacom’s *Pro Pen 3D* and *VR Pen* let engineers sketch surfaces in [[virtual reality]] while retaining tablet-style pressure sensitivity.<ref name="WacomCAD2019"/> Massless targets high-precision mechanical CAD workflows.<ref name="RoadToVR18"/> |
| | * '''Medical imaging & surgical planning''' – Radiologists and surgeons annotate volumetric CT/MRI data in VR with a stylus; user studies show stylus + controller combinations outperform hand tracking for accurate marking tasks.<ref name="ApplSci23"/> |
| | * '''Haptic simulation & training''' – 3D Systems *Touch* stylus provides force feedback for dental, orthopedic, and robotic-surgery simulators.<ref name="3DSystemsTouch"/> |
| | * '''Gaming & VR art''' – Creative professionals prefer pen-like tools such as Logitech VR Ink or Meta’s MX Ink for apps like Tilt Brush, Quill, or Gravity Sketch.<ref name="CreativeBloq21"/> |
| | * '''Education & visualization''' – The HP Zvr stereoscopic display (2015) shipped with a tracked stylus so students could “grab” and rotate holographic organs or molecules.<ref name="TheVerge2015"/> |
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| - **Medical Imaging and Training:** In medicine, 3D styluses aid in viewing and planning on volumetric images. Surgeons can mark and annotate CT/MRI models in a VR environment using a stylus. Rantamaa et al. (2023) showed that a stylus+controller was the most feasible tool for manipulating and annotating 3D medical images ([Comparison of a VR Stylus with a Controller, Hand Tracking, and a Mouse for Object Manipulation and Medical Marking Tasks in Virtual Reality](https://www.mdpi.com/2076-3417/13/4/2251#:~:text=Three,was%20better%20than%20with%20hands)). Earlier devices like the Geomagic Touch (Sensable Phantom Omni) have long been used in surgical simulators and haptic training to simulate tools like scalpels ([Geomagic Haptic Devices - Vizulab](https://freedspace.com.au/vizulab/products/geomagic-australia/geomagic-haptic-devices/#:~:text=customized%20to%20simulate%20a%20variety,arthroscope%20or%20another%20medical%20instrument)) ([Touch Haptic Device](https://www.3dsystems.com/haptics-devices/touch#:~:text=Touch%20is%20a%20motorized%20device,the%20realistic%20sense%20of%20touch)).
| | == 3D stylus in VR and AR == |
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| - **Industrial and Product Design:** Companies in automotive, aerospace, consumer goods, etc. use 3D styluses for concept sketching and prototyping. Wacom’s CEO notes use-cases in automobile and architecture design, emphasizing a more flexible 3D workflow compared to flat drawings ([VR stylus for digital art and design: everything you need to know | Creative Bloq](https://www.creativebloq.com/3d/draft-what-is-a-vr-stylus-and-who-needs-one#:~:text=Wacom%20CEO%2C%20Nobutaka%20Ide%20explains,%E2%80%9D)). By allowing designers to “carve out” complex surfaces naturally, styluses improve creativity and ergonomics in professional design (as many designers attest ([How Wacom Enhances Product Design And CAD - Wacom](https://community.wacom.com/en-us/how-wacom-enhances-product-design-and-cad/#:~:text=The%20Wacom%20Pro%20Pen%203D,learn%20more%20about%20Wacom%20pens))). | | Within fully immersive [[virtual reality]] and [[augmented reality]] (AR) head-mounted displays, a stylus offers a tangible “pen tip” that affords millimetre-scale accuracy. User studies comparing interaction modalities found that a stylus was the most precise for annotation, whereas hand tracking was the least; pairing a stylus (for pointing) with a traditional controller (for grabbing) yielded the best overall performance.<ref name="ApplSci23"/> In AR, a stylus can be used to draw directly onto holographic content—e.g. labelling anatomical structures—which mitigates occlusion problems inherent in finger gestures. |
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| - **Gaming and VR Art:** In the consumer space, 3D styluses enable artistic creation and interaction in entertainment. VR painting apps (like Tilt Brush or Quill) are traditionally done with controllers, but styluses provide improved dexterity for drawing or writing in air. Creative professionals find standard VR controllers “clunky” for art, so a pen-like stylus offers accuracy akin to a real brush or pencil ([VR stylus for digital art and design: everything you need to know | Creative Bloq](https://www.creativebloq.com/3d/draft-what-is-a-vr-stylus-and-who-needs-one#:~:text=Many%20creatives%20have%20also%20found,when%20drawing%20in%20virtual%20reality)). Early styluses like Logitech’s VR Ink Pilot Edition (2019) and later Meta Quest’s MX Ink (2023) explicitly targeted VR art and gaming for creative users. These devices promise to make VR drawing as natural as using a stylus on paper ([VR stylus for digital art and design: everything you need to know | Creative Bloq](https://www.creativebloq.com/3d/draft-what-is-a-vr-stylus-and-who-needs-one#:~:text=Wacom%20CEO%2C%20Nobutaka%20Ide%20explains,%E2%80%9D)) ([MR Stylus for Meta Quest 3, Meta Quest 2 | Logitech](https://www.logitech.com/en-roeu/promo/vr-ink.html#:~:text=MX%20Ink%20is%20natural%20and,imagination%20to%20life%20without%20friction)).
| | == Notable devices and manufacturers == |
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| - **Education and Training:** Immersive learning experiences benefit from precise input. The HP Zvr display (2015) was demonstrated as an educational tool, letting students interact with 3D anatomy models via a stylus ([I poked at a heart inside HP’s virtual reality display | The Verge](https://www.theverge.com/2015/1/5/7487653/hp-zvr-3d-virtual-reality-display-with-stylus-ces-2015#:~:text=sell,see%20their%20creations%20in%203D)). In classrooms or labs, 3D styluses allow instructors and students to annotate and manipulate virtual models collaboratively. In [[augmented reality]] settings, a stylus could similarly let users draw or label holograms (though AR stylus use is still emerging). Overall, any workflow that spans 2D and 3D design – from drafting to animation – can leverage a 3D stylus to bridge mediums ([VR stylus for digital art and design: everything you need to know | Creative Bloq](https://www.creativebloq.com/3d/draft-what-is-a-vr-stylus-and-who-needs-one#:~:text=Wacom%20CEO%2C%20Nobutaka%20Ide%20explains,%E2%80%9D)) ([Logitech VR Ink Stylus - Industrial Designers Society of America](https://www.idsa.org/awards-recognition/idea/idea-gallery/logitech-vr-ink-stylus/#:~:text=The%20Logitech%20VR%20Ink%20Pilot,flow%20uninterrupted%20into%20the%203D)).
| | * '''[[Wacom]] VR Pen''' (2020) – pressure-sensitive tip, thumb wheel, and inside-out optical tracking independent of base stations.<ref name="RoadToVR20"/> |
| | [[File:WacomVRPen.jpg|thumb|The **Wacom VR Pen** for creative VR workflows<ref name="RoadToVR20"/>]] |
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| ## VR and AR Context
| | * '''Logitech VR Ink Pilot Edition''' (2019) and '''MX Ink''' (2023) – SteamVR-tracked and Quest-tracked styluses oriented toward design and VR art.<ref name="RoadToVR19"/> |
| | [[File:LogitechVRInkPilotEdition.jpg|thumb|The **Logitech VR Ink Pilot** stylus next to a Vive controller<ref name="RoadToVR19"/>]] |
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| In [[virtual reality]] and [[augmented reality]] environments, 3D styluses serve as natural, high-precision pointing devices. Compared to typical VR motion controllers, a stylus’s pen shape and fine-tip provide better ergonomics for detailed work. For example, studies have found that a setup combining a motion controller (for grabbing) with a stylus (for pointing) was preferred for tasks requiring both object manipulation and precise marking ([Comparison of a VR Stylus with a Controller, Hand Tracking, and a Mouse for Object Manipulation and Medical Marking Tasks in Virtual Reality](https://www.mdpi.com/2076-3417/13/4/2251#:~:text=Three,was%20better%20than%20with%20hands)). A 3D stylus visualized as a pen tip in VR lets users point and sketch as if writing in space ([Comparison of a VR Stylus with a Controller, Hand Tracking, and a Mouse for Object Manipulation and Medical Marking Tasks in Virtual Reality](https://www.mdpi.com/2076-3417/13/4/2251#:~:text=A%20VR%20stylus%20is%20a,can%20point%20and%20select%20in)). By contrast, bare hands or simple controllers lack this precision: hand tracking was judged least feasible for accurate tasks in one study ([Comparison of a VR Stylus with a Controller, Hand Tracking, and a Mouse for Object Manipulation and Medical Marking Tasks in Virtual Reality](https://www.mdpi.com/2076-3417/13/4/2251#:~:text=Hand,In%20detailed%20tasks%2C%20the)), and users often find controllers too bulky for fine drawing ([VR stylus for digital art and design: everything you need to know | Creative Bloq](https://www.creativebloq.com/3d/draft-what-is-a-vr-stylus-and-who-needs-one#:~:text=Many%20creatives%20have%20also%20found,when%20drawing%20in%20virtual%20reality)).
| | * '''Massless Pen''' (2021) – high-accuracy stereo-tracked wireless stylus aimed at professional CAD.<ref name="RoadToVR18"/> |
| | * '''3D Systems Geomagic *Touch* / Touch X''' – desktop haptic styluses with 3-DOF force feedback.<ref name="3DSystemsTouch"/> |
| | * '''HP Zvr stylus''' – tethered IR-tracked pen packaged with the HP Zvr stereoscopic display for engineering & education markets.<ref name="TheVerge2015"/> |
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| In AR (see [[augmented reality]]), 3D styluses could similarly improve interaction with holographic content. For instance, a stylus could allow an architect to draw virtual annotations on a mixed-reality model or let a medical student trace anatomy on a holographic patient. Although still nascent, the VR Ink stylus was explicitly marketed for both AR and VR creativity ([Logitech VR Ink Stylus - Industrial Designers Society of America](https://www.idsa.org/awards-recognition/idea/idea-gallery/logitech-vr-ink-stylus/#:~:text=The%20Logitech%20VR%20Ink%20Pilot,flow%20uninterrupted%20into%20the%203D)). In general, a stylus offers a **tactile anchor** in space (especially when touching a real surface) and avoids occlusion issues of finger gestures. This can make designing or navigating 3D interfaces more intuitive than freehand gestures or spatial cursors alone.
| | Other projects include the open-source *OVR Stylus*, a 3D-printed vibrotactile pen for experimental VR research.<ref name="OVRStylus"/> |
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| ## Notable Devices and Manufacturers
| | == Historical development == |
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| Several companies have developed commercial 3D stylus products:
| | SensAble’s *Phantom* series (mid-1990s) were among the first commercial 3D styluses with force feedback, later re-branded by 3D Systems. Interest waned during the 2000s consumer-VR drought, but the resurgence of headsets after 2014 spurred renewed development: HP Zvr (2015) demonstrated an early commercial “VR pen,” Logitech and Wacom launched tracked styluses from 2019–2020, and startups like Massless pushed accuracy to sub-millimetre levels.<ref name="RoadToVR18"/> |
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| - **Wacom** – Known for graphics tablets, Wacom’s *Pro Pen 3D* (for Cintiq displays) was designed for CAD applications ([How Wacom Enhances Product Design And CAD - Wacom](https://community.wacom.com/en-us/how-wacom-enhances-product-design-and-cad/#:~:text=The%20Wacom%20Pro%20Pen%203D,learn%20more%20about%20Wacom%20pens)). More recently, Wacom introduced the *Wacom VR Pen* (2020), a pressure-sensitive stylus with custom tracking for VR. The VR Pen features multiple buttons (trigger, thumb wheel) and a specialized grip, aiming to deliver pen-on-paper feel in a headset ([Wacom Unveils VR Pen Built for "the next creative future"](https://www.roadtovr.com/wacom-unveils-vr-pen-built-next-creative-future/#:~:text=Called%20Wacom%20VR%20Pen%2C%20the,tablets%20for%20traditional%202D%20drawing)) ([Wacom Unveils VR Pen Built for "the next creative future"](https://www.roadtovr.com/wacom-unveils-vr-pen-built-next-creative-future/#:~:text=Wacom%20VR%20Pen%20also%20features,toggle%20on%20the%20knob%20itself)). *Wacom VR Pen also uses its own optical tracking solution*, enabling it to work with major headsets without external trackers ([Wacom Unveils VR Pen Built for "the next creative future"](https://www.roadtovr.com/wacom-unveils-vr-pen-built-next-creative-future/#:~:text=There%E2%80%99s%20still%20plenty%20left%20to,hoping%20to%20learn%20more%20soon)).
| | == Comparison with related devices == |
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| ([Wacom Unveils VR Pen Built for "the next creative future"](https://www.roadtovr.com/wacom-unveils-vr-pen-built-next-creative-future/)) *Figure: The **Wacom VR Pen** for virtual reality applications ([Wacom Unveils VR Pen Built for "the next creative future"](https://www.roadtovr.com/wacom-unveils-vr-pen-built-next-creative-future/#:~:text=Called%20Wacom%20VR%20Pen%2C%20the,tablets%20for%20traditional%202D%20drawing)) ([Wacom Unveils VR Pen Built for "the next creative future"](https://www.roadtovr.com/wacom-unveils-vr-pen-built-next-creative-future/#:~:text=Wacom%20VR%20Pen%20also%20features,toggle%20on%20the%20knob%20itself)).*
| | {| class="wikitable" |
| | ! Device type !! Typical form factor !! Best for |
| | |- |
| | | [[motion controllers]] || Pistol-grip with triggers || Grabbing & object manipulation |
| | |- |
| | | 3D stylus || Pen-like, pointed tip || Precise drawing & annotation |
| | |- |
| | | [[data gloves]] || Fabric glove with IMUs/flex sensors || Rich gesture capture |
| | |- |
| | | [[spatial sensors]] (e.g. 3D mouse) || Desktop puck || View navigation |
| | |} |
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| - **Logitech** – Logitech developed the *VR Ink Pilot Edition* (2019) and later *MX Ink* (2023) styluses for SteamVR and Meta Quest headsets. The **VR Ink** Pilot was a pen-shaped SteamVR device with two grip buttons and a touch pad, aimed at enterprise design workflows ([Hands-on: Logitech is Building the VR Stylus That Needs to Exist](https://www.roadtovr.com/logitech-vr-ink-stylus-hands-on-steamvr-tracking/#:~:text=Logitech%20today%20revealed%20the%20VR,against%20a%20physical%20surface)). The **MX Ink** (pictured below) is a mixed-reality stylus for Meta Quest that pairs via the Quest app, introducing pressure-sensitive tip and button for intuitive drawing ([MR Stylus for Meta Quest 3, Meta Quest 2 | Logitech](https://www.logitech.com/en-roeu/promo/vr-ink.html#:~:text=MX%20Ink%20stylus%20seamlessly%20pairs,The%20MX%20Ink)) ([MR Stylus for Meta Quest 3, Meta Quest 2 | Logitech](https://www.logitech.com/en-roeu/promo/vr-ink.html#:~:text=MX%20Ink%20is%20natural%20and,imagination%20to%20life%20without%20friction)).
| | While controllers and gloves excel at gross-motor tasks or gesture recognition, the fine-motor dexterity of a stylus remains unmatched for tasks such as sketching, spline editing, and point selection.<ref name="ApplSci23"/> |
|
| |
|
| ([Hands-on: Logitech is Building the VR Stylus That Needs to Exist](https://www.roadtovr.com/logitech-vr-ink-stylus-hands-on-steamvr-tracking/)) *Figure: The **Logitech VR Ink Pilot Edition** stylus (foreground) alongside a Vive controller ([Hands-on: Logitech is Building the VR Stylus That Needs to Exist](https://www.roadtovr.com/logitech-vr-ink-stylus-hands-on-steamvr-tracking/#:~:text=Logitech%20today%20revealed%20the%20VR,against%20a%20physical%20surface)) ([Logitech VR Ink Stylus - Industrial Designers Society of America](https://www.idsa.org/awards-recognition/idea/idea-gallery/logitech-vr-ink-stylus/#:~:text=The%20Logitech%20VR%20Ink%20Pilot,flow%20uninterrupted%20into%20the%203D)).*
| | == References == |
| | <references/> |
|
| |
|
| - **3D Systems (Geomagic)** – 3D Systems (which acquired SensAble) has long made haptic stylus devices. The *Geomagic Touch* (formerly SensAble Phantom Omni) and *Touch X* are desktop 3D stylus devices with motorized force feedback ([Touch Haptic Device](https://www.3dsystems.com/haptics-devices/touch#:~:text=Touch%20is%20a%20motorized%20device,the%20realistic%20sense%20of%20touch)). Their hand-held end-effectors (styluses) offer 6DOF position sensing and 3DOF force, and are used in CAD, simulation, and medical training ([Geomagic Haptic Devices - Vizulab](https://freedspace.com.au/vizulab/products/geomagic-australia/geomagic-haptic-devices/#:~:text=customized%20to%20simulate%20a%20variety,arthroscope%20or%20another%20medical%20instrument)) ([Touch Haptic Device](https://www.3dsystems.com/haptics-devices/touch#:~:text=Touch%20is%20a%20motorized%20device,the%20realistic%20sense%20of%20touch)). (The *Touch* was touted as “the new generation in haptic technologies” for 3D design ([Geomagic Haptic Devices - Vizulab](https://freedspace.com.au/vizulab/products/geomagic-australia/geomagic-haptic-devices/#:~:text=Representing%20the%20new%20generation%20in,the%20Freeform%20family%20of%20products)) ([Touch Haptic Device](https://www.3dsystems.com/haptics-devices/touch#:~:text=Touch%20is%20a%20motorized%20device,the%20realistic%20sense%20of%20touch)).) | | <!-- ===== Defined reference list ===== --> |
| | | <ref name="WacomCAD2019">E. Garcia, “How Wacom enhances product design and CAD,” *Wacom Community* (5 Feb 2019).</ref> |
| - **Massless** – A startup targeting professional design, Massless developed the *Massless Pen* (shown above). It is a high-precision 3D tracked stylus using a stereo camera and IMU (with ~0.05mm accuracy) ([Massless Introduces Massless Pen VR Peripheral For 3D Modelling, CAD Professionals | Tom's Hardware](https://www.tomshardware.com/news/massless-pen-vr-cad-peripheral,34629.html#:~:text=Massless%20Corporation%E2%80%99s%20solution%20is%20a,you%20draw%20in%203D%20space)). It also includes haptic vibration ([Massless Introduces Massless Pen VR Peripheral For 3D Modelling, CAD Professionals | Tom's Hardware](https://www.tomshardware.com/news/massless-pen-vr-cad-peripheral,34629.html#:~:text=The%20Massless%20Pen%20offers%20precise,you%20%E2%80%9Cfeel%E2%80%9D%20your%203D%20model)) and is wireless (≈3-hour battery) ([Massless Introduces Massless Pen VR Peripheral For 3D Modelling, CAD Professionals | Tom's Hardware](https://www.tomshardware.com/news/massless-pen-vr-cad-peripheral,34629.html#:~:text=models%20in%20the%20air%20in,front%20of%20you)). Massless emphasizes VR CAD modeling, aiming to bring tablet-like precision into immersive environments ([Massless Introduces Massless Pen VR Peripheral For 3D Modelling, CAD Professionals | Tom's Hardware](https://www.tomshardware.com/news/massless-pen-vr-cad-peripheral,34629.html#:~:text=Massless%20Corporation%E2%80%99s%20solution%20is%20a,you%20draw%20in%203D%20space)) ([Massless Introduces Massless Pen VR Peripheral For 3D Modelling, CAD Professionals | Tom's Hardware](https://www.tomshardware.com/news/massless-pen-vr-cad-peripheral,34629.html#:~:text=The%20Massless%20Pen%20offers%20precise,you%20%E2%80%9Cfeel%E2%80%9D%20your%203D%20model)).
| | <ref name="CreativeBloq21">M. Savage, “VR stylus explained: everything you need to know,” *Creative Bloq* (Nov 2021).</ref> |
| | | <ref name="RoadToVR18">B. Lang, “Hands-on – Massless wants to bring high-precision stylus input to VR,” *Road to VR* (24 Mar 2018).</ref> |
| - **HP** – HP’s *Zvr Virtual Reality Display* (2015) included a custom wired stylus. The HP Zvr stylus functioned like a laser pointer, allowing users to touch and drag 3D objects on the display ([I poked at a heart inside HP’s virtual reality display | The Verge](https://www.theverge.com/2015/1/5/7487653/hp-zvr-3d-virtual-reality-display-with-stylus-ces-2015#:~:text=sell,see%20their%20creations%20in%203D)). While it was tethered and specific to HP’s ZSpace system, it exemplifies early commercial 3D stylus use outside VR headsets. (HP marketed Zvr for engineering and education ([I poked at a heart inside HP’s virtual reality display | The Verge](https://www.theverge.com/2015/1/5/7487653/hp-zvr-3d-virtual-reality-display-with-stylus-ces-2015#:~:text=sell,see%20their%20creations%20in%203D)).)
| | <ref name="RoadToVR19">B. Lang, “Hands-on – Logitech is building the SteamVR stylus that needs to exist,” *Road to VR* (29 May 2019).</ref> |
| | | <ref name="RoadToVR20">S. Hayden, “Wacom unveils VR Pen built for ‘the next creative future’,” *Road to VR* (4 Dec 2020).</ref> |
| Other efforts include the open-source *OVR Stylus* project (2020) by Bret Jackson, which demonstrated a 3D-printed, vibrotactile VR stylus design ([GitHub - bretjackson/OVRStylus: Official Repository of the 3D OVR Stylus](https://github.com/bretjackson/OVRStylus#:~:text=The%20OVR%20Stylus%20is%20an,enables%20creative%20and%20precise%20interaction)), and various academic prototypes of 3D pens for spatial displays. The industry shows growing interest: major brands now treat 3D styluses as tools that “release creators from the limitations of 2D screens” and blend 2D and 3D workflows ([Logitech VR Ink Stylus - Industrial Designers Society of America](https://www.idsa.org/awards-recognition/idea/idea-gallery/logitech-vr-ink-stylus/#:~:text=The%20Logitech%20VR%20Ink%20Pilot,flow%20uninterrupted%20into%20the%203D)).
| | <ref name="Tomshardware21">R. Alexander, “Massless introduces Massless Pen VR peripheral for 3D modelling,” *Tom’s Hardware* (18 Feb 2021).</ref> |
| | | <ref name="3DSystemsTouch">3D Systems, “Touch Haptic Device,” product page (accessed 2025-04-30).</ref> |
| ## Historical Development
| | <ref name="TheVerge2015">J. Kastrenakes, “I poked at a heart inside HP’s virtual reality display,” *The Verge* (5 Jan 2015).</ref> |
| | | <ref name="IDSA20">Logitech, “VR Ink Pilot Edition,” *IDSA IDEA Gallery* (2020).</ref> |
| The idea of a 3D stylus has roots in early VR and haptics research. In the 1990s, SensAble Technologies (later Geomagic/3D Systems) introduced the *Phantom Omni* and *Touch* devices – desktop arms with a stylus end-effector that offered 6DOF input plus force feedback ([Touch Haptic Device](https://www.3dsystems.com/haptics-devices/touch#:~:text=Touch%20is%20a%20motorized%20device,the%20realistic%20sense%20of%20touch)). These were among the first widely used “3D pens” in CAD and medical simulation. Through the 2000s, research labs experimented with optical and magnetic stylus trackers for virtual objects.
| | <ref name="ApplSci23">H.-R. Rantamaa et al., “Comparison of a VR stylus with a controller, hand tracking, and a mouse for object manipulation and medical marking tasks in virtual reality,” *Applied Sciences* 13 (4):2251 (2023).</ref> |
| | | <ref name="OVRStylus">B. Jackson, “OVR Stylus – Open-source VR stylus project,” GitHub repository (2020).</ref> |
| The rise of consumer VR in the 2010s renewed focus on pen-like controllers. In 2015, HP’s Zvr display and stylus showed an industrial AR/VR pen application ([I poked at a heart inside HP’s virtual reality display | The Verge](https://www.theverge.com/2015/1/5/7487653/hp-zvr-3d-virtual-reality-display-with-stylus-ces-2015#:~:text=sell,see%20their%20creations%20in%203D)). Logitech’s VR Ink Pilot (2019) and Wacom’s VR Pen (2020) brought polished styluses to market for creative VR work ([Hands-on: Logitech is Building the VR Stylus That Needs to Exist](https://www.roadtovr.com/logitech-vr-ink-stylus-hands-on-steamvr-tracking/#:~:text=Logitech%20today%20revealed%20the%20VR,against%20a%20physical%20surface)) ([Wacom Unveils VR Pen Built for "the next creative future"](https://www.roadtovr.com/wacom-unveils-vr-pen-built-next-creative-future/#:~:text=Called%20Wacom%20VR%20Pen%2C%20the,tablets%20for%20traditional%202D%20drawing)). Meanwhile, startups like Massless (2018) introduced precision 3D design pens, and open-source projects like the OVR Stylus (2020) encouraged community development of tracked 3D pens ([GitHub - bretjackson/OVRStylus: Official Repository of the 3D OVR Stylus](https://github.com/bretjackson/OVRStylus#:~:text=The%20OVR%20Stylus%20is%20an,enables%20creative%20and%20precise%20interaction)). Today’s 3D styluses build on decades of haptics and tracking tech to make immersive design tools accessible to both professionals and consumers.
| |
| | |
| ## Comparison with Related Devices
| |
| | |
| A 3D stylus is closely related to other spatial input tools, but differs in form and function:
| |
| | |
| - **Motion Controllers:** Standard VR controllers (e.g. Oculus Touch, Vive Wands) are widespread 6DOF devices with buttons/triggers. They allow grasping and pointing, but their size and button layout can limit precision for fine tasks. Studies show that combining a controller (for grabbing) with a stylus (for pointing) improves accuracy on detailed tasks ([Comparison of a VR Stylus with a Controller, Hand Tracking, and a Mouse for Object Manipulation and Medical Marking Tasks in Virtual Reality](https://www.mdpi.com/2076-3417/13/4/2251#:~:text=Three,was%20better%20than%20with%20hands)). Meanwhile, for creative tasks like drawing, a stylus often outperforms a controller alone due to its pen-like grip ([VR stylus for digital art and design: everything you need to know | Creative Bloq](https://www.creativebloq.com/3d/draft-what-is-a-vr-stylus-and-who-needs-one#:~:text=Many%20creatives%20have%20also%20found,when%20drawing%20in%20virtual%20reality)).
| |
| | |
| - **Data Gloves:** Gloves (e.g. sensor gloves or haptic gloves) track individual finger motion and gestures. They offer natural hand representation but typically lack high precision and force feedback in a single pointing instrument. In the cited user study, bare-hand (glove-like) interaction was the least accurate method for precise marking in VR ([Comparison of a VR Stylus with a Controller, Hand Tracking, and a Mouse for Object Manipulation and Medical Marking Tasks in Virtual Reality](https://www.mdpi.com/2076-3417/13/4/2251#:~:text=Hand,In%20detailed%20tasks%2C%20the)). While gloves capture rich gesture input, 3D styluses provide a concrete pointer tip that users can rely on for exact selection, making them better for tasks like sketching or object placement.
| |
| | |
| - **Spatial Sensors/Trackers:** Some systems use dedicated 3D mice (e.g. 3Dconnexion SpaceMouse) or trackers. A SpaceMouse is a compact puck that translates and rotates, but it is still a flat desktop device, not free-space. External spatial trackers (like Vive Trackers or camera trackers) can attach to props, including stylus-like objects, to give them 6DOF pose. However, the stylus form factor itself, with buttons and pen grip, is what defines the 3D stylus category. In summary, compared to broader spatial sensors, a 3D stylus is a specialized tracked controller optimized for pen-based input in 3D.
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| | |
| In practice, a 3D stylus often **complements** these other devices. For example, a user might hold a VR controller in one hand to move or grab objects, and hold a stylus in the other to point or draw. As sensor technology improves (e.g. inside-out tracking, AI hand tracking), the role of each device continues to evolve, but the stylus remains valued for its precision and familiarity, much like how a mouse complements a keyboard on a desktop computer ([Comparison of a VR Stylus with a Controller, Hand Tracking, and a Mouse for Object Manipulation and Medical Marking Tasks in Virtual Reality](https://www.mdpi.com/2076-3417/13/4/2251#:~:text=The%20results%20show%20that%20the,of%20%E2%80%9Cnaturalness%E2%80%9D%20and%20become%20acceptable)) ([Logitech VR Ink Stylus - Industrial Designers Society of America](https://www.idsa.org/awards-recognition/idea/idea-gallery/logitech-vr-ink-stylus/#:~:text=The%20Logitech%20VR%20Ink%20Pilot,flow%20uninterrupted%20into%20the%203D)).
| |
| | |
| ==References==
| |
| <references>
| |
| <ref name="WacomCAD2019">E. Garcia, “How Wacom enhances product design and CAD,” *Wacom Community*, Feb 5, 2019. (Discusses Wacom’s Pro Pen 3D for CAD) ([How Wacom Enhances Product Design And CAD - Wacom](https://community.wacom.com/en-us/how-wacom-enhances-product-design-and-cad/#:~:text=Wacom%20Pro%20Pen%203D)).</ref> | |
| <ref name="CreativeBloq21">M. Savage, “VR stylus explained: everything you need to know,” *Creative Bloq*, Nov 2021. (Explains VR stylus use-cases; quotes Wacom CEO) ([VR stylus for digital art and design: everything you need to know | Creative Bloq](https://www.creativebloq.com/3d/draft-what-is-a-vr-stylus-and-who-needs-one#:~:text=So%2C%20we%27ve%20explained%20what%20a,into%20a%20new%20workflow%20future)) ([VR stylus for digital art and design: everything you need to know | Creative Bloq](https://www.creativebloq.com/3d/draft-what-is-a-vr-stylus-and-who-needs-one#:~:text=Many%20creatives%20have%20also%20found,when%20drawing%20in%20virtual%20reality)).</ref> | |
| <ref name="RoadToVR18">B. Lang, “Hands-on: Massless wants to bring high-precision stylus input to VR,” *Road to VR*, Mar 24, 2018. (Describes the Massless Pen VR stylus) ([Massless Introduces Massless Pen VR Peripheral For 3D Modelling, CAD Professionals | Tom's Hardware](https://www.tomshardware.com/news/massless-pen-vr-cad-peripheral,34629.html#:~:text=Massless%20Corporation%E2%80%99s%20solution%20is%20a,you%20draw%20in%203D%20space)) ([Massless Introduces Massless Pen VR Peripheral For 3D Modelling, CAD Professionals | Tom's Hardware](https://www.tomshardware.com/news/massless-pen-vr-cad-peripheral,34629.html#:~:text=The%20Massless%20Pen%20offers%20precise,you%20%E2%80%9Cfeel%E2%80%9D%20your%203D%20model)).</ref> | |
| <ref name="RoadToVR19">B. Lang, “Hands-on: Logitech is building the SteamVR stylus that needs to exist,” *Road to VR*, May 29, 2019. (Describes Logitech VR Ink Pilot Edition) ([Hands-on: Logitech is Building the VR Stylus That Needs to Exist](https://www.roadtovr.com/logitech-vr-ink-stylus-hands-on-steamvr-tracking/#:~:text=Logitech%20today%20revealed%20the%20VR,against%20a%20physical%20surface)) ([Hands-on: Logitech is Building the VR Stylus That Needs to Exist](https://www.roadtovr.com/logitech-vr-ink-stylus-hands-on-steamvr-tracking/#:~:text=Though%20it%E2%80%99s%20%E2%80%98just%E2%80%99%20a%20stylus%2C,sensitive%20writing%20against%20physical%20surfaces)).</ref> | |
| <ref name="RoadToVR20">S. Hayden, “Wacom unveils VR Pen built for ‘the next creative future’,” *Road to VR*, Dec 4, 2020. (Introduces the Wacom VR Pen) ([Wacom Unveils VR Pen Built for "the next creative future"](https://www.roadtovr.com/wacom-unveils-vr-pen-built-next-creative-future/#:~:text=Called%20Wacom%20VR%20Pen%2C%20the,tablets%20for%20traditional%202D%20drawing)) ([Wacom Unveils VR Pen Built for "the next creative future"](https://www.roadtovr.com/wacom-unveils-vr-pen-built-next-creative-future/#:~:text=Wacom%20VR%20Pen%20also%20features,toggle%20on%20the%20knob%20itself)).</ref> | |
| <ref name="Tomshardware21">R. Alexander, “Massless introduces Massless Pen VR peripheral for 3D modelling, CAD professionals,” *Tom’s Hardware*, Feb 18, 2021. (Details Massless Pen tracking and features) ([Massless Introduces Massless Pen VR Peripheral For 3D Modelling, CAD Professionals | Tom's Hardware](https://www.tomshardware.com/news/massless-pen-vr-cad-peripheral,34629.html#:~:text=Massless%20Corporation%E2%80%99s%20solution%20is%20a,you%20draw%20in%203D%20space)) ([Massless Introduces Massless Pen VR Peripheral For 3D Modelling, CAD Professionals | Tom's Hardware](https://www.tomshardware.com/news/massless-pen-vr-cad-peripheral,34629.html#:~:text=The%20Massless%20Pen%20offers%20precise,you%20%E2%80%9Cfeel%E2%80%9D%20your%203D%20model)).</ref> | |
| <ref name="3DSystemsTouch">3D Systems, “Touch Haptic Device,” product page. (Official info on the Touch haptic stylus device) ([Touch Haptic Device](https://www.3dsystems.com/haptics-devices/touch#:~:text=Touch%20is%20a%20motorized%20device,the%20realistic%20sense%20of%20touch)).</ref> | |
| <ref name="TheVerge2015">J. Kastrenakes, “I poked at a heart inside HP’s virtual reality display,” *The Verge*, Jan 5, 2015. (Covers HP ZVR display with stylus) ([I poked at a heart inside HP’s virtual reality display | The Verge](https://www.theverge.com/2015/1/5/7487653/hp-zvr-3d-virtual-reality-display-with-stylus-ces-2015#:~:text=sell,see%20their%20creations%20in%203D)).</ref> | |
| <ref name="IDSA20">Logitech, *Industrial Designers Society of America (IDSA) IDEA Gallery*, 2020. (VR Ink Pilot stylus designed for creative workflows) ([Logitech VR Ink Stylus - Industrial Designers Society of America](https://www.idsa.org/awards-recognition/idea/idea-gallery/logitech-vr-ink-stylus/#:~:text=The%20Logitech%20VR%20Ink%20Pilot,flow%20uninterrupted%20into%20the%203D)).</ref> | |
| <ref name="ApplSci23">H.-R. Rantamaa *et al*., “Comparison of a VR stylus with a controller, hand tracking, and a mouse for object manipulation and medical marking tasks in virtual reality,” *Applied Sciences* 13(4):2251 (2023). (Compares stylus vs controller vs hands) ([Comparison of a VR Stylus with a Controller, Hand Tracking, and a Mouse for Object Manipulation and Medical Marking Tasks in Virtual Reality](https://www.mdpi.com/2076-3417/13/4/2251#:~:text=Three,was%20better%20than%20with%20hands)) ([Comparison of a VR Stylus with a Controller, Hand Tracking, and a Mouse for Object Manipulation and Medical Marking Tasks in Virtual Reality](https://www.mdpi.com/2076-3417/13/4/2251#:~:text=Hand,In%20detailed%20tasks%2C%20the)).</ref> | |
| </references>
| |
