With minor adjustments, I don't see why you can't bump this process up to an ESIGN-compliant delivery method that satisfies the "in writing" part of the Section 1026.17(a)(1) delivery standard. The "in a form that the consumer may keep" part of that standard is a leap of faith, but if you step way back, the process meets the spirit of Reg. Z.
An electronic signature can be anything you and the borrower agree. ESIGN provides a blanket blessing.
As far as document e-delivery goes, when you go through ESIGN's pre-consent disclosures (which don't have to be in writing), you probably cover most points when your employees explain the computer/keypad process. If you haven't touched on a point or two, addition should be easy. Demonstrable consent is usually handled at the consumer's remote location, but not in this model. Here, you and the borrower can establish by face-to-face conversation that s/he is able to view the computer screen and comprehend it's content. The e-signature can be your evidence that prior to beginning the display/review/sign/print process, the consumer "affirmatively consented" to e-delivery of the time-of-consummation TIL disclosures and acknowledged that a printed paper copy (at no additional cost) would be provided at the conclusion of the transaction.