LineFORM: Actuated Curve Interfaces for Display, Interaction, and Constraint

In this paper we explore the design space of actuated curve interfaces, a novel class of shape changing-interfaces. Physical curves have several interesting characteristics from the perspective of interaction design: they have a variety of inherent affordances; they can easily represent abstract data; and they can act as constraints, boundaries, or borderlines. By utilizing such aspects of lines and curves, together with the added capability of shape-change, new possibilities for display, interaction and body constraint are possible. In order to investigate these possibilities we have implemented two actuated curve interfaces at different scales. LineFORM, our implementation, inspired by serpentine robotics, is comprised of a series chain of 1DOF servo motors with integrated sensors for direct manipulation. To motivate this work we present various applications such as shape changing cords, mobiles, body constraints, and data manipulation tools

Linked-Stick: Conveying a Physical Experience using a Shape-Shifting Stick

We use sticks as tools for a variety of activities, everything from conducting music to playing sports or even engage in combat. However, these experiences are inherently physical and are poorly conveyed through traditional digital mediums such as video. Linked-Stick is a shape-changing stick that can mirror the movements of another person's stick-shape tool. We explore how this can be used to experience and learn music, sports and fiction in a more authentic manner. Our work attempts to expand the ways in which we interact with and learn to use tools

Sketched Reality: Sketching Bi-Directional Interactions Between Virtual and Physical Worlds with AR and Actuated Tangible UI

This paper introduces Sketched Reality, an approach that combines AR sketching and actuated tangible user interfaces (TUI) for bidirectional sketching interaction. Bi-directional sketching enables virtual sketches and physical objects to "affect" each other through physical actuation and digital computation. In the existing AR sketching, the relationship between virtual and physical worlds is only one-directional -- while physical interaction can affect virtual sketches, virtual sketches have no return effect on the physical objects or environment. In contrast, bi-directional sketching interaction allows the seamless coupling between sketches and actuated TUIs. In this paper, we employ tabletop-size small robots (Sony Toio) and an iPad-based AR sketching tool to demonstrate the concept. In our system, virtual sketches drawn and simulated on an iPad (e.g., lines, walls, pendulums, and springs) can move, actuate, collide, and constrain physical Toio robots, as if virtual sketches and the physical objects exist in the same space through seamless coupling between AR and robot motion. This paper contributes a set of novel interactions and a design space of bi-directional AR sketching. We demonstrate a series of potential applications, such as tangible physics education, explorable mechanism, tangible gaming for children, and in-situ robot programming via sketching.Comment: UIST 202

Shells and Stages for Actuated TUIs: Reconfiguring and Orchestrating Dynamic Physical Interaction

Research on Actuated and Shape-Changing Tangible User Interfaces (TUIs) in the field of Human Computer Interaction (HCI) has been explored widely to design embodied interactions using digital computation has been explored widely. While advanced technical approaches, such as robotics and material science, have led to many concrete instances of Actuated TUIs, a single actuated hardware system, in reality, is inherently limited by its fixed configuration, thus limiting the reconfigurability, adaptability, and expressibility of its interactions. In my thesis, I introduce novel hardware augmentation methods, Shells and Stages, for Actuated TUI hardware to expand and enrich their interactivity and expressibility for dynamic physical interactions. Shells act as passive mechanical attachments for Actuated TUIs that can extend, reconfigure and augment the interactivity and functionality of the hardware. Stages are physical platforms that allow Actuated TUIs to propel on a platform to create novel physical expression based on the duality of front stage and back stage. These approaches are inspired by theatrical performances, computational and robotic architecture, biological systems, physical tools and science fiction. While Shells and Stages can individually augment the interactivity and expressibility of the Actuated TUI system, the combination of the two enhances advanced physical expression based on combined shell-swaping and stage-transitioning. By introducing these novel modalities of Shells and Stages, the thesis expands and contributes to a new paradigm of Inter-Material / Device Interaction in the domain of Actuated TUIs. The thesis demonstrates the concepts of Shells and Stages based on existing Actuated TUI hardware, including pin-based shape displays and self-propelled swarm user interfaces. Design and implementation methods are introduced to fabricate mechanical shells with different properties, and to orchestrate a swarm of robots on the stage with arbitrary configurations. To demonstrate the expanded interactivity and reconfigurability, a variety of interactive applications are presented via prototypes, ranging from digital data interaction, reconfigurable physical environment, storytelling, and tangible gaming. Overall, my research introduces a new A-TUI design paradigm that incorporates the self-actuating hardware (Actuated TUIs) and passively actuated mechanical modules (Shells) together with surrounding physical platforms (Stages). By doing so, my research envisions the future in which computational technology is coupled seamlessly with our physical environment. This next generation of TUIs, by interweaving multiple HCI research streams, aims to provide endless possibilities for reconfigurable tangible and embodied interactions enabled by fully expressive and functional movements and forms.Ph.D

Designing interactions with actuated curve interfaces

Thesis: S.M., Massachusetts Institute of Technology, School of Architecture and Planning, Program in Media Arts and Sciences, 2016.Cataloged from PDF version of thesis.Includes bibliographical references (pages 83-88).A line is a form that is primitive yet versatile. With its transformation capability, the line can transform into curves, surfaces and solid shapes. As a familiar form factor we encounter in everyday life in the shape of strings, tapes or wires, the form of line provides various tangible interactions, including knotting, wrapping, tying, and connecting. Lines are also used to represent abstract information, from the original drawings using line from thousands of years ago, to now when they are used to compose digital geometrical models through wireframe or Bézier data. The customization capability is another characteristic of line; strings or tape can be cut and rearranged to create various shapes and configurations. In this thesis, we will introduce "LineFORM, a novel concept for shape changing interfaces which uses physical lines to bridge the dynamic digital environment and the tangible physical world. Utilizing the versatile characteristics of lines mentioned above, we explore and define the design space for interactions with actuated curve interfaces. We implement two major versions of prototypes based on serpentine robotics technology to demonstrate a wide range of applications. For the applications, both digital and physical environment-based applications are being proposed. The system design and the implementation of LineFORM are evaluated through preliminary technical evaluation, and the limitations and future works are discussed. Through this initial design and technical exploration of actuated curve interfaces for interaction design, we envision the future where the adaptability and dynamism of digital environment will be seamlessly woven into our daily life.by Ken Nakagaki.S.M