Using a Motion Copy System, a research group at Keio University in Japan have developed robots that are able to reproduce traditional Japanese calligraphy. The system uses information about movement in calligraphy to identify and store detailed brush strokes.
The system stores calligraphy movements using the head of the brush as the master system and tip as the slave system. Characters can then be written by handling the device just as you would an ordinary brush. What sets this design apart from conventional motion systems is that it can record and replicate the force applied to the brush and the sensations felt when you touch something.