<p>The absence of haptic feedback in stylus-based interactions with large touchscreens often leads to a suboptimal user experience. To address this, we propose a novel fine-grained vibrotactile feedback system, leveraging a comprehensive hardware-software co-design. Our core contribution is FinViPen, a wireless stylus integrating a 6-DOF attitude sensor, thin-film pressure sensors, and voice coil actuators. FinViPen captures real-time writing parameters, including normal force and pressure vector, transmitting them via Bluetooth to a PC. The PC then extracts dynamic features such as velocity, 3-axis acceleration, and pressure vector from FinViPen’s positional and writing data. These features are fed into a modified DDSP algorithm to synthesize fine-grained audio waveforms. These waveforms are wirelessly transmitted via stereo FM modules back to FinViPen, which in turn drives its voice coil actuator to deliver precise vibrotactile feedback. Objective experiments demonstrate that the vibrotactile output of FinViPen, when simulating materials like whiteboard, wood, and paper, achieves high consistency (MSE &lt; 0.08) with established haptic texture database (HaTT) waveforms and spectra. Furthermore, a user study with 11 participants across 6 whiteboard writing scenarios revealed that our proposed technology significantly enhances users’ positional awareness and immersion during writing, directly attributable to the fine-grained vibrotactile feedback.</p>