Chinese calligraphy not only brings us aesthetic, but also is beneficial to our mind and body. It is popular in China, especially among the elderly. We have developed a calligraphy robot which helps teach the elderly calligraphy. The robot is also helpful for rehabilitation after stroke. It has the following features:
1) The robot learns the motion from human writing, and thereafter performs the writing on its own. After it has acquired the writing skills, the robot can even guide human to write calligraphy.
2) A linear rail and a paper conveyer are developed to expand the workspace of the robot. Therefore, the robot is capable of writing a large piece of calligraphic work.