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Why would you think the touch screen would require you to sit down on a table? You just TOUCH the SCREEN. That's it.
With a regular GBA, you typically use your thumbs for the face controls, your two index fingers are supposed to be ready to use the triggers, and you use your remaining three fingers on each hand to hold up the system.
The DS is looking to be about as wide as the classic GBA, and probably a bit heavier, with most of that new weight making it top-heavy. The control setup is mostly the same.
But if you want to use a stylus on the touch screen, you have to take your right hand off the unit, which might make it a bit tough to hold up the entire unit with just three fingers. And then if that wasn't bad enough, your're expected to start
poking at the center of the unit.
And then there's another oddity in that left-handed people don't normally hold pens (or a stylus) with their right hands, meaning that they might have to take their left hands off the D-pad to use the touch screen. Most games seem to let you take your hands off the buttons for a few moments to reorient yourself without too much trouble, but if you "take your hands off the steering wheel", or stop moving around in a videogame, you usually end up paying for it.
Although personally, I'm not too worried about these things. I'm confident that Nintendo will do all they can to adjust the system's weight and balance, and it might never be "perfect", but we'll probably be able to live with the final results. And I'm a lefty myself, and while it feels strange to hold a pen in my right hand, I can easily picture myself holding the unit, then rotating my right hand 90 degrees counter-clockwise, making some light taps on a screen with my index finger, and then grabbing the unit again, without letting up on the D-pad.
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BTW, most people don't need to put dwn their PDAs to use the touchscreen...
AFAIK, most PDAs are meant to be "cupped" in one entire hand, while you use the stylus with your other hand. They aren't used in real gaming situations (of course, I don't have a PDA myself, so I could be wrong).