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In this paper, we report on four generations of display-sensor platforms for handheld augmented reality. The paper is organized as a compendium of requirements that guided the design and construction of each generation of the handheld platforms. The first generation, reported in [17]), was a result of various studies on ergonomics and human factors. Thereafter, each following iteration in the design-production process was guided by experiences and evaluations that resulted in new guidelines for future versions. We describe the evolution of hardware for handheld augmented reality, the requirements and guidelines that motivated its construction.