Bubbles are lightweight, can be instantly created from minimal material, and their size can be controlled. In this paper, we propose BubbleFab, a fabrication method that enables rapid volumetric prototyping by dynamically generating and stacking plastic bubbles of varying sizes in real time. Using a custom design software, users can generate a stacking script from any 3D model, which is then executed by a robotic arm that autonomously extrudes and assembles the bubbles into a physical structure. The resulting objects are not only lightweight, but can also be reinforced after fabrication for use as molds. Furthermore, the materials used can be recovered and reused. We developed an end-to-end pipeline consisting of dedicated design software and fabrication hardware and evaluated the accuracy and durability of the generated bubbles. We also present a series of example outputs and application scenarios enabled by this method.

Inflatable structures have been widely explored in architecture, robotics, and Human-Computer Interaction for their expandability and shape-retention capability. However, conventional designs are limited to a single, pre-defined transformation and often rely on complex configurations and continuous air supply. In this study, we introduce Foldflatables—a novel class of inflatable structures featuring programmable hinge directions and angles that can be dynamically specified. Thermoplastic hinges are affixed to both sides of the inflatable body, modulating their stiffness through localized heating. During inflation, the heated side folds and solidifies upon cooling, allowing the structure to retain its form without sustained internal pressure. These hinges can be reprogrammed by reheating, enabling multiple shape transformations using a single air pump. We evaluate the system’s angle control precision and transformation latency, and demonstrate application scenarios including household items, compact packing solutions, and large-scale information physicalization.

Indoor airflow carries rich ambient information, yet remains invisible and overlooked in everyday environments. We present Flobile, an LLM-integrated indexical sensor and display that detects and visualizes subtle air currents through a mobile and windchime-inspired pendulum mechanism. The device employs a contact/separation mechanism using conductive thread to generate binary sensing data while providing intuitive visual feedback through physical movement. By integrating ChatGPT API for contextual analysis, Flobile interprets airflow patterns and delivers insights about environmental changes that users might miss. This research presents the potential scenarios that combine physical indexicality with LLM-based interpretation for environmental monitoring.

We propose GadJets, an approach to remotely actuating passive materials and mechanisms using air jets for interactive and shape-changing tangible user interfaces (TUIs). Compared to previous HCI research in remote actuation, air jets offer relatively strong, distant, and safe actuation with simple control. Leveraging these advantages, we can selectively actuate multiple passive materials and mechanisms (or GadJet modules) using only one actuator. We defined a design space to outline the basic architecture and generalizable primitives for air-jet-based TUIs. Also, we exemplified our approach with diverse GadJets modules and proof-of-concept implementation of a computer-controlled air jet system. Finally, we developed a visualization system of the estimated air range based on pre-collected data to support user control. With the vision of deploying multiple passive GadJet modules in an environment fused with the actuated air jets, we demonstrated applications of interactive tabletop objects, an actuated workbench, and an actuated shelf.

We propose TensionFab, a novel technique for creating shape-changeable room-scale structures. This method employs easily available planar materials (plywood, MDF), cuts them into multiple 2D shapes, and then connects the pieces manually to create a unified structure capable of 2D and 3D deformations. Constructed TensionFab structures are characterized by easy achievability of target surfaces, substantial structural strength, shape changeability, time and material savings, and easy storage and transportation. In this paper, we introduce the basic principles of shape-making, module combination, and structural characteristics of TensionFab. We also developed a design assistance tool to allow users to automate design based on the target shape. We evaluate the design results for shape validation and structural performance. Finally, we validate the approach with actual construction and propose a variety of application scenarios. Overall, TensionFab is an efficient strategy for spatial design and structural organization. This paper contributes to research and exploration in the HCI room-scale interaction field.

As robots inhabit more social spheres, human acceptance significantly impacts their functionality and engagement. The way robotic movement is perceived is crucial to their acceptance in society. However, robotic movement is most often a result of function rather than purposefully designed. Working in the continuum between robotic, tangible, and shape-shifting interfaces will enable a deeper exploration of the effects and interpretation of expressive movement. Hence, we propose [e]Motion, a hands-on opportunity for participants to explore design methods and prototype a variety of expressive movements in robotic and actuated and shape-shifting tangible interfaces. We will collectively reflect on evaluation methods and co-develop a visual vocabulary of motion and emotion, mapping movement more directly to personality and emotion. With this, we aim to foster a practical understanding of expressive movement and how it might affect human acceptance of robots and tangible interfaces.

In this paper, we focus on water droplets and propose a novel method to control the movement of water droplets on surfaces such as paper. Most droplet movement methods based on the principle of electrowetting require a high density of electrodes to complex circuitry, and there are restrictions on the size of the droplet. In contrast, our method involves printing line-shaped electrodes on a paper-like sheet substrate and moving water droplets between these lines. The electrodes need not be densely arranged; they can be spaced several centimeters apart and water droplets can move between them. This not only greatly reduces the number of electrodes and simplifies the circuit, but also allows electrode placement with design and the ability to drive a wide range of water droplet sizes, from a few millimeters to several centimeters in diameter. This paper reports the details of the proposed method and presents several design examples.

Neither Here Nor There is a speculative installation exploring human perception of the natural world from the perspective of four plants. Probing the act of communication as well as the indeterminate gap between what is deemed human and non-human, the installation highlights the complex role that technology plays in our current understanding of the human. Standing in large pots around a meeting table, plants engage in a free roaming discussion about what they think it means to be human and about planetary politics. Key questions and terms are fed into GPT-3 (AI-based natural language text generator) and played as plant sounds. As the plants converse in this manner, no aspect of their conversation is intuitively legible to the viewer. Viewers are invited to use a decoding app on their cell phone that translates these plant sounds. In avoiding an obvious mode of human-centric representation, the installation places the viewer in unknown territory, asking them to consider what intelligence, communication, and cognition mean beyond the human perspective.

Inflatable systems have been attracting attention in the field of interaction design. Conventional tabletop-sized pneumatic systems tend to be complex because they require bulky and noisy equipment. Therefore, several liquid-to-gas phase change actuators that use vaporization have been proposed. But these actuators have problems with controllability, reusability, and reconfigurability. In this study, we propose InflatableMod, novel inflatable modules based on the efficient control of liquid-to-gas phase change actuators. These are designed with a compact circuit that has a liquid transfer function to feed the required amount of low-boiling-point liquid into the pouch and a heating function to inflate the pouch by the volume change. This approach allows for a compact, silent, and untethered inflatable system. It is also possible to create an untethered and reconfigurable multi-inflatable system because each module is synchronized. In this paper, we propose the design of the modules, evaluate their performance, and present application scenarios.

Materials are a key part of our daily experiences. Recently, researchers have been devising new ways to utilize materials directly from our physical world for the design of objects and interactions. We present a new fabrication technique that enables control of CO2 bubble positions and their size within carbonated liquids. Instead of soap bubbles, boiling water, or droplets, we show creation of patterns, images and text through sessile bubbles that exhibit a lifetime of several days. Surfaces with mixed wettability regions are created on glass and plastic using ceramic coatings or plasma projection leading to patterns that are relatively invisible to the human eye. Different regions react to liquids differently. Nucleation is activated after carbonated liquid is poured onto the surface with bubbles nucleating in hydrophobic regions with a strong adherence to the surface and can be controlled in size ranging from 0.5mm – 6.5mm. Bubbles go from initially popping or becoming buoyant during CO2 supersaturation to stabilizing at their positions within minutes. Technical evaluation shows stabilization under various conditions. Our design software allows users to import images and convert them into parametric pixelation forms conducive to fabrication that will result in nucleation of bubbles at required positions. Various applications are presented to demonstrate aspects that may be harnessed for a wide range of use in daily life. Through this work, we enable the use of carbonation bubbles as a new design material for designers and researchers.

Physical interfaces that change appearance by controlling transparency have attracted attention for wide applicability. However, many existing methods are limited to planar objects, and it is difficult to control transparency in three-dimensional objects and to control transparency continuously. In this study, we propose a novel method to control the transparency of three-dimensional objects by utilizing the mechanical emulsification phenomenon of liquid. This approach is to fill the object with two transparent liquids that are liquid-liquid phase separated and agitate the liquids inside the object to make them cloudy and control their transparency. By using electrohydrodynamic (EHD) pumps, which can be freely positioned inside the object, to agitate the liquid, it is possible to control the transparency of complex three-dimensional objects. Continuous control is also achieved by changing the ratio of the two liquids. In this paper, we describe the details of proposed method for controlling the transparency and show application scenarios.

In recent years, actuators that handle fluids such as gases and liquids have been attracting attention for their applications in soft robots and shape-changing interfaces. In the field of HCI, there have been various inflatable prototyping tools that utilize air control, however, very few tools for liquid control have been developed. In this study, we propose HydroMod, new constructive modules that can easily generate liquid flow and programmatically control liquid flow, with the aim of lowering the barrier to entry for prototyping with liquids. HydroMod consists of palm-sized small modules, which can generate liquid flow with the electrohydrodynamics (EHD) phenomenon by simply connecting the modules. Moreover, users can configure and control the flow path by simply recombining the modules. In this paper, we propose the design of the modules, evaluate the performance of HydroMod as a fluid system, and also show the possible application scenarios of fluid prototyping using this system.

This paper introduces Sketched Reality, an approach that combines AR sketching and actuated tangible user interfaces (TUI) for bi-directional 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.

The development and widespread use of digital fabrication techniques has accelerated the fabrication of three-dimensional (3D) objects, enabling not only to design their shapes but also to customize their internal structures and materials to realize various functions. In this research we propose a novel design method to embed internal pumps and liquid paths inside 3D objects. We utilized a pump driven by electrohydrodynamics (EHD) of fluid migrating in response to an applied electric field. To arrange the EHD pumps and fluid paths in appropriate positions inside 3D objects, we stacked layered acrylic plates cut with digital fabrication tools such as laser cutters and cutting plotters. Using these embedded pumps, we can control the flow of fluid to change color, shape, and motion of the objects. In this paper, we detailed our fabrication techniques named LayerPump, and demonstrated its design space and application scenarios.

ExpandFab is a fabrication method for creating expanding objects using foam materials. The printed objects change their shape and volume, which is advantageous for reducing the printing time and transportation costs. For the fabrication of expanding objects, we investigated a basic principle of the expansion rate and developed materials by mixing a foam powder and elastic adhesive. Furthermore, we developed a fabrication method using the foam materials. A user can design expanded objects using our design software and sets the expansion areas on the surface. The software simulates and exports the 3d model into a three-dimensional (3D) printer. The 3D printer prints the expandable object by curing with ultraviolet light. Finally, the user heats the printed objects, and the objects expand to maximum approximately 2.7 times of their original size. ExpandFab allows users to prototype products that expand and morph into various shapes, such as objects changing from one shape to various shapes, and functional prototype with electronic components. In this paper, we describe the basic principle of this technique, implementation of the software and hardware, application examples, limitations and discussions, and future works.

Large-scale shape-changing interfaces have great potential, but creating such systems requires substantial time, cost, space, and efforts, which hinders the research community to explore interactions beyond the scale of human hands. We introduce modular inflatable actuators as building blocks for prototyping room-scale shape-changing interfaces. Each actuator can change its height from 15cm to 150cm, actuated and controlled by air pressure. Each unit is low-cost (8 USD), lightweight (10 kg), compact (15 cm), and robust, making it well-suited for prototyping room-scale shape transformations. Moreover, our modular and reconfigurable design allows researchers and designers to quickly construct different geometries and to explore various applications. This paper contributes to the design and implementation of highly extendable inflatable actuators, and demonstrates a range of scenarios that can leverage this modular building block.

Despite the recent growth in popularity of personal mobility devices (e.g., e-scooters and e-skateboards), they still suffer from limited safety and narrow design form factors, due to their rigid structures. On the other hand, inflatable interfaces studied in human-computer interaction can achieve large volume change by simple inflation/deflation. Inflatable structure also offers soft and safe interaction owing to material compliance and diverse fabrication methods that lead to a wide range of forms and aesthetics. In this paper, we propose poimo, a new family of POrtable and Inflatable MObility devices, which consists of inflatable frames, inflatable wheels, and inflatable steering mechanisms made of a mass-manufacturable material called drop-stitch fabric. First, we defined the basic material properties of a drop-stitch inflatable structure that is sufficiently strong to carry a person while simultaneously allowing soft deformation and deflation for storage and portability. We then implemented an interactive design system that can scan the user's desired riding posture to generate a customized personal mobility device and can add the user's shape and color preferences. To demonstrate the custom-design capability and mobility, we designed several 3D models using our system and built physical samples for two basic templates: a motorcycle and a wheelchair. Finally, we conducted an online user study to examine the usability of the design system and share lessons learned for further improvements in the design and fabrication of poimo.

We introduce MorphIO, entirely soft sensing and actuation modules for programming by demonstration of soft robots and shape-changing interfaces.MorphIO's hardware consists of a soft pneumatic actuator containing a conductive sponge sensor.This allows both input and output of three-dimensional deformation of a soft material.Leveraging this capability, MorphIO enables a user to record and later playback physical motion of programmable shape-changing materials.In addition, the modular design of MorphIO's unit allows the user to construct various shapes and topologies through magnetic connection.We demonstrate several application scenarios, including tangible character animation, locomotion experiment of a soft robot, and prototyping tools for animated soft objects.Our user study with six participants confirms the benefits of MorphIO, as compared to the existing programming paradigm.

We present FoldTronics, a 2D-cutting based fabrication technique to integrate electronics into 3D folded objects. The key idea is to cut and perforate a 2D sheet to make it foldable into a honeycomb structure using a cutting plotter; before folding the sheet into a 3D structure, users place the electronic components and circuitry onto the sheet. The fabrication process only takes a few minutes allowing to rapidly prototype functional interactive devices. The resulting objects are lightweight and rigid, thus allowing for weight-sensitive and force-sensitive applications. Finally, due to the nature of the honeycomb structure, the objects can be folded flat along one axis and thus can be efficiently transported in this compact form factor. We describe the structure of the foldable sheet, and present a design tool that enables users to quickly prototype the desired objects. We showcase a range of examples made with our design tool, including objects with integrated sensors and display elements.

We introduce shape-changing swarm robots. A swarm of self-transformable robots can both individually and collectively change their configuration to display information, actuate objects, act as tangible controllers, visualize data, and provide physical affordances. ShapeBots is a concept prototype of shape-changing swarm robots. Each robot can change its shape by leveraging small linear actuators that are thin (2.5 cm) and highly extendable (up to 20cm) in both horizontal and vertical directions. The modular design of each actuator enables various shapes and geometries of self-transformation. We illustrate potential application scenarios and discuss how this type of interface opens up possibilities for the future of ubiquitous and distributed shape-changing interfaces.

We propose a new method for shape- and color-changing display called COLORISE. Our 'COLORISE' system has inflatable shape changing pixels that can change their colors without using any light-emitting type devices. The array of the modules enables various color patterns, making full use of the characteristics of the material. Each pixel also has a touch sensing function that enables users to interact with it intuitively. This paper describes the design and mechanism of our system, explores interactions with users, and presents technical evaluations of the proposed pixel modules.

This paper introduces Dynamic 3D Printing, a fast and reconstructable shape formation system. Dynamic 3D Printing can assemble an arbitrary three-dimensional shape from a large number of small physical elements. Also, it can disassemble the shape back to elements and reconstruct a new shape. Dynamic 3D Printing combines the capabilities of 3D printers and shape displays: Like conventional 3D printing, it can generate arbitrary and graspable three-dimensional shapes, while allowing shapes to be rapidly formed and reformed as in a shape display. To demonstrate the idea, we describe the design and implementation of Dynablock, a working prototype of a dynamic 3D printer. Dynablock can form a three-dimensional shape in seconds by assembling 3,000 9 mm blocks, leveraging a 24 x 16 pin-based shape display as a parallel assembler. Dynamic 3D printing is a step toward achieving our long-term vision in which 3D printing becomes an interactive medium, rather than the means for fabrication that it is today. In this paper, we explore possibilities for this vision by illustrating application scenarios that are difficult to achieve with conventional 3D printing or shape display systems.

In this paper we present Organic Primitives, an enabling toolbox that expands upon the library of input-output devices in HCI and facilitates the design of interactions with organic, fluid-based systems. We formulated color, odor and shape changing material primitives which act as sensor-actuators that convert pH signals into human-readable outputs. Food-grade organic molecules anthocyanin, vanillin, and chitosan were employed as dopants to synthesize materials which output a spectrum of colors, degrees of shape deformation, and switch between odorous and non-odorous states. We evaluated the individual output properties of our sensor-actuators to assess the rate, range, and reversibility of the changes as a function of pH 2-10. We present a design space with techniques for enhancing the functionality of the material primitives, and offer passive and computational methods for controlling the material interfaces. Finally, we explore applications enabled by Organic Primitives under four contexts: environmental, cosmetic, edible, and interspecies.

Printflatables is a design and fabrication system for human-scale, functional and dynamic inflatable objects. We use inextensible thermoplastic fabric as the raw material with the key principle of introducing folds and thermal sealing. Upon inflation, the sealed object takes the expected three dimensional shape. The workflow begins with the user specifying an intended 3D model which is decomposed to two dimensional fabrication geometry. This forms the input for a numerically controlled thermal contact iron that seals layers of thermoplastic fabric. In this paper, we discuss the system design in detail, the pneumatic primitives that this technique enables and merits of being able to make large, functional and dynamic pneumatic artifacts. We demonstrate the design output through multiple objects which could motivate fabrication of inflatable media and pressure-based interfaces.

In this paper, we propose a novel fabrication machine called ProtoMold, which uses interactive vacuum forming system for rapid prototyping. ProtoMold combines a dynamical shape-changing surface that consists of 12 × 8 linear actuators and a vacuum forming system. According to the shape of the surface, this system can mold various 2.5 dimensional objects quickly. Another characteristic of this system is that users can reuse molded objects and change their design; by applying tension and heat to a molded object, the object becomes flat and can be molded again. We also designed user several interaction methods for manipulating ProtoMold. In addition to loading predesigned data, the user can control the shape of the pin display directly using gesture input or physical objects.

Here we report the new soft sensor "FoamSense" that can measure the deformation state of a volumetric soft object such as compressed, bent, twisted and sheared (Figure 1). This sensor is made by impregnating a porous soft object with conductive ink. The design process of FoamSense is explained. We then summarized the features and basic characteristics of some porous materials for designing these sensors appropriately. We also proposed the potential of using digital fabrication for controlling the carrier structure of FoamSense. Proposed porous structure showed an anisotropic sensor characteristic. We discussed the potential and limitation of this approach. Three possible applications are proposed by using FoamSense. FoamSense supports a richer interaction between the user and soft objects.

This study proposes BlowFab, a prototyping method used to create a 2.5-dimensional prototype in a short time by combining laser cutting and blow molding techniques. The user creates adhesive areas and inflatable areas by engraving and cutting multilayered plastic sheets using a laser cutter. These adhesive areas are fused automatically by overlapping two crafted sheets and softening them with a heater. The user can then create hard prototypes by injecting air into the sheets. Objects can be bent in any direction by cutting incisions or engraving a resistant resin. The user can create uneven textures by engraving a pattern with a heat-resistant film. These techniques can be used for prototyping various strong inflatable objects. The finished prototype is strong and can be collapsed readily for storage when not required. In this study, the design process is described using the proposed method. The study also evaluates possible bending mechanisms and texture expression methods along with various usage scenarios and discusses the resolution, strength, and reusability of the prototype developed.

"Dividual Plays Experimental Lab" is an extract from the dance piece "Dividual Plays". Dividual Plays was produced as the first research outcome of "Reactor for Awareness in Motion [RAM]", a research project we have been involved since 2010 (http://ram.ycam.jp/en/). Dividual Plays Experimental Lab consists of essential elements of Dividual Plays, virtual environments for dance "scenes", a programming toolkit "RAM Dance Toolkit", and a motion capture system "MOTIONER". With these systems, the lab allows the visitors to explore and create their own body movements correspond with the experience of the dancers in Dividual Plays.

We propose DrawForming that is able to mold objects quickly and repeatedly by combining a vacuum forming method with a dynamic transformable surface. This fabrication tool can remake objects of various uneven surfaces repeatedly and quickly, using a mold that changes its form dynamically using motors. Moreover, for directly designing forms, we propose an interactive method that can determine uneven points by drawing on a surface. The mold is transformed based on the drawn figures, the users place the heated soft material onto its mold, and the system fabricates the surface of the object by vacuuming from the bottom. Users could create a 3D topographical model using a camera that detects the contour lines of a map, and combine readymade goods and a dynamic mold. In this paper, we describe the design and implementation of this novel interactive method for fabricating surface objects.

Modern technology development has made the border between life and matter more ambiguous. Studies that find creature-like behavior from inorganic materials are carried out in the field of art and entertainment. On the other hand, it is an important issue to manipulate objects without implanting any actuators directly inside.

This paper presents dePENd, a novel interactive system that assists in sketching using regular pens and paper. Our system utilizes the ferromagnetic feature of the metal tip of a regular ballpoint pen. The computer controlling the X and Y positions of the magnet under the surface of the table provides entirely new drawing experiences. By controlling the movements of a pen and presenting haptic guides, the system allows a user to easily draw diagrams and pictures consisting of lines and circles, which are difficult to create by free-hand drawing. Moreover, the system also allows users to freely edit and arrange prescribed pictures. This is expected to reduce the resistance to drawing and promote users' creativity. In addition, we propose a communication tool using two dePENd systems that is expected to enhance the drawing skills of users. The functions of this system enable users to utilize interactive applications such as copying and redrawing drafted pictures or scaling the pictures using a digital pen. Furthermore, we implement the system and evaluate its technical features. In this paper, we describe the details of the design and implementations of the device, along with applications, technical evaluations, and future prospects.

SolaColor is a scheme for creating a place (namely, a floor space) whose color is varied in response to sunlight. The aim of this work is to create sustainable spatial rendition by utilizing sunlight. A feature of this spatial-rendition scheme is rendering places by color--rather than contrast---of lighting. By means of SolaColor, areas in sunlight are colored in pink, while shaded areas are colored white. When this scheme is practically applied, time-varying patterns appear in synchronization with the movement of the sun. When a person or object enters a space created by SolaColor, white shadows oriented according to the position of the sun are formed in the manner of a sundial. The scheme can be implemented by utilizing photochromic material and optical design, and it can be introduced in any location under sunlight without the need for an electrical-power supply.

This paper presents a novel musical performance system named onNote that directly utilizes printed music scores as a musical instrument. This system can make users believe that sound is indeed embedded on the music notes in the scores. The users can play music simply by placing, moving and touching the scores under a desk lamp equipped with a camera and a small projector. By varying the movement, the users can control the playing sound and the tempo of the music. To develop this system, we propose an image processing based framework for retrieving music from a music database by capturing printed music scores. From a captured image, we identify the scores by matching them with the reference music scores, and compute the position and pose of the scores with respect to the camera. By using this framework, we can develop novel types of musical interactions.

The goal of our research is to support cooperative work performed by stakeholders sitting around a table. To support such cooperation, various table-based systems with a shared electronic display on the tabletop have been developed. These systems, however, suffer the common problem of not recognizing shared information such as text and images equally because the orientation of their view angle is not favorable. To solve this problem, we propose the Lumisight Table. This is a system capable of displaying personalized information to each required direction on one horizontal screen simultaneously by multiplexing them and of capturing stakeholders' gestures to manipulate the information.