Do you remember "hanging chads"?

But yeah, that's the crux of the idea: have a machine take the voter's choices, to effectively eliminate accidentally-spoiled ballots (the design of the "hanging chads" machines was sorely lacking on this point); but then have it produce a physical record, visually checked by the voter, to enable auditing & recounts.

Counting the hard copies would be the definitive source of truth, just like traditional paper ballots - any automated score-keeping would just be a bonus for early result reporting (although might also stand in for the manual count in "safe seats" where no-one cares to dispute the expected result).