In this work, we designed an interactive stylus interface for touch-screen devices, the wUbi-Pen haptic stylus. The stylus has functions of providing both vibration and impact with a single actuator, and it is a stand-alone system including its own battery and communication module. We present a new interaction scheme on the graphical user interface (GUI) based on sensory feedback events for clicking, drag-and-drop, moving, sliding, highlighting, and drawing. Experiments evaluating stylus performance indicated that the haptic cues improved precise control of GUI elements. A simple interactive digital sketchbook was also implemented, which provided a variety of haptic feedback while drawing and touching objects.