Yes, I did use one of those devices that "required" a stylus. A Treo 650. It came with a stylus and when I lost mine it was fingertip navigation for a while until I got another. It wasn't pretty as the targets were small but it would register with a fingertip or fingernail press.
It would work without a stylus.
This is from someone who actually used one of these devices, not repeating wrong "facts" they read on the Internet.
But that's just the point - you replaced the stylus because the finger input (which was a proxy for a missing stylus) was rubbish. The screens needed pressure, not a simple touch, and the UIs were designed for the small tip of the stylus, not a broad finger. This is why no one released a device where the primary input method was a fingernail press. Devices like your Treo were designed for stylus input.
Perhaps I shouldn't have said require - you're right, you can make them work without a stylus, but it's a workaround. And yes, I shouldn't have said that the screens didn't work with fingers, etc. The point was that they weren't really designed for that.
Hopefully I've clarified that now, but just to be sure, those devices were designed for stylus use as their primary input method. iPhones and iPads (and other devices - I'm certainly not saying this is just an Apple thing) were designed for finger input, and that finger input has been pretty sensational. But in its own way, finger input is limited - fingers are blunt. The additional functionality of the Pencil expands what we can do.
Not sure if you're saying I'm repeating wrong facts that I read on the Internet, but if so, that's not the case. Like you, I also used these things back in the day. I still do. I receive many deliveries and lots of the drivers ask me to sign on devices that require a stylus. Those who have lost their stylus hand me a pen instead. I can't sign on those devices with my fingers or fingernails. Some additional thing is needed. So at least those devices, for that purpose, require a stylus or some other item that they must carry in order to do their main function.
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I agree with most of your post, and your general gist here, but wanted to point out that a stylus wasn't strictly required. Many smartphone touchscreens back then worked pretty well with fingers also.
The main reason people used a stylus with the older phones (besides for Graffiti on the Palms) was because most of the input buttons (especially for on-screen keyboards) were so tiny, in order to conserve space on the usually fairly small screens of the time.
I say "most of the input buttons", because smartphone and app makers were beginning to try to appeal to those who didn't want to yank out a stylus every time they wanted to do something. For example, by 2005 Samsung included a finger friendly quick control panel (for disabling WiFi, etc), and a finger friendly remote control app to use the IR transmitter that some of their smartphones included. They even had a finger friendly browser back then.
I would also point out that at least on Windows Mobile, you could also use menu and cursor keys if you didn't feel like pulling out the stylus and/or only had one hand free.
Yes that's true. Fair points that you've made there. I was talking in pretty general terms and there were always going to be exceptions.
But the main point, really, is that the Pencil was designed for very different functions than a stylus. Sure, at the end of the day there's still a long thin thing being pressed against the screen, but they're quite different.