Delays in direct teleoperation decouple operator input from robot feedback. We frame this not as a unitary problem but as three facets of operator uncertainty: (1) communication, when commands take effect, (2) trajectory, how inputs map to motion, and (3) environmental, how external factors alter outcomes. We externalized each facet through predictive visualizations: Network, Path, and Envelope. In a controlled study with 24 participants (novices in telerobotics) navigating a simulated robot under a fixed 2.56 s round-trip delay, we compared these visualizations against a delayed-video baseline. Path significantly shortened task time, lowered perceived cognitive load, and reduced reliance on reactive “move-and-wait” behavior. Envelope lowered cognitive load but did not significantly reduce reactive behavior or improve performance, while Network had no measurable effect. These results indicate that predictive support is effective only when trajectory uncertainty is externalized, enabling operators to move from reactive to more proactive control.

Dimensional measurement remains one of the most error-prone activities in making, engineering, and construction, despite the technical precision of modern instruments. Errors frequently arise not from the tools themselves, but from usability challenges: correct alignment of tools, interpreting numeric values, and transferring measurements across media. We introduce StoryStick++, a novel measurement system that rethinks measurement as an interactive, unit-less process. Inspired by story sticks, century-old craft tools using align-and-mark workflows, StoryStick++ replaces numerical readouts with direct spatial interactions. The device enables users to measure, mark, and transfer dimensions without converting to numerical values or standard units. Our system integrates a smartphone-based clip-on with embedded sensing and a series of attachments to support a wide variety of measurement tasks for measuring and marking basic and complex geometries with step-by-step guidance. Together, these contributions offer a new paradigm for measurement; one that emphasizes usability over abstraction and numeric precision.

The growing capabilities of microcontrollers, sensors, and actuators, coupled with decreasing costs, have led to a proliferation of embedded interactive systems. Prototyping such electronic systems has become democratized across a broad audience, including students, hobbyists, professional engineers, and programmers. Central to this evolution is the ease of software development, and in particular, the availability of low-level drivers and programming libraries which have significantly lowered the barriers to programming these systems. However, this ecosystem often presents challenges due to the tight coupling between programming libraries, drivers, and the underlying sensors and actuators. This frequently leads to compatibility issues. This paper introduces LogicGlue, which addresses these challenges by providing a platform-independent driver specification format. LogicGlue driver specifications allow hardware-independent application logic to be written, facilitating the process of interchanging components with minimal-to-no code adjustments. Unlike existing solutions, LogicGlue supports efficient interfacing via native communication protocols. This approach not only simplifies electronics prototyping but also ensures compatibility between various types of electronic components from different vendors. By reducing the complexity of hardware integration, LogicGlue enables a more seamless exploration of novel interactive behaviours and interfaces, forming a new tool for engineering interactive computing systems.

Recent HCI research has shown significant interest in investigating digital working instructions for guiding novices to perform manual tasks. While performance enhancement has been a primary focus, it is increasingly recognized that technology’s impact extends beyond objective metrics. Trainee motivation and engagement plays a pivotal role in enhancing learning outcomes and effectiveness. This paper investigates the utilization of principles from Self Determination Theory–clear attainable goals, meaningful rationale, and perspective taking–in designing multimedia instructions to enhance novice users’ indicators of psychological well-being. We present findings from an experiment involving real-world woodworking, where novice users, in a between-subjects study, followed interactive, in-situ projection-based guidance. Results demonstrate that adhering to SDT postulates can positively influence perceived competence, intrinsic motivation and task execution quality. These findings offer valuable insights for designing digital instructions to guide and train novices, emphasizing the importance of psychological well-being alongside task performance.

Printed circuit boards (PCBs) are fundamental to modern electronics and are present in almost every electronic device. However, despite their ubiquity, current PCB assembly methods can be time-consuming and lack flexibility for one-off designs. This poster investigates how low-volume PCB prototyping can be enhanced by integrating collaborative robots (cobots) and Augmented Reality (AR). Specifically, we introduce SOLDAR, a system that facilitates the soldering of electronic through-hole components on PCBs. By using a cobot for optimal PCB positioning and AR glasses for step-by-step guidance, SOLDAR aims to streamline the assembly process. The expected outcomes are increased efficiency, reduced assembly time, and greater flexibility for low-volume PCB prototyping designs. To validate these hypotheses, user experiments are necessary.

The majority of errors in making processes can be tracked back to errors in dimensional specifications. While technical aspects of measurement, such as precision and speed have been extensively studied in metrology, the user aspects of measurement received significantly less attention. While little research exists that specifically addresses the user aspects of handling dimensions, various systems have been built that embed new interactive modalities, processes, and techniques which significantly impact how users deal with dimensions or conduct measurements. However, these features are mostly hidden in larger system contributions. To uncover and articulate these techniques, we conducted a holistic literature survey on measurement practices in crafting techniques and systems for rapid prototyping. Based on this survey, we contribute 10 measurement patterns, which describe reusable elements and solutions for common difficulties when dealing with dimensions throughout workflows for making physical artifacts.

Researchers have developed various tools and techniques towards the vision of on-demand fabrication of custom, interactive devices. Recent work has 3D-printed artefacts like speakers, electromagnetic actuators, and hydraulic robots. However, these are non-trivial to instantiate as they require post-fabrication mechanical– or electronic assembly. We introduce AirLogic: a technique to create electronics-free, interactive objects by embedding pneumatic input, logic processing, and output widgets in 3D-printable models. AirLogic devices can perform basic computation on user inputs and create visible, audible, or haptic feedback; yet they do not require electronic circuits, physical assembly, or resetting between uses. Our library of 13 exemplar widgets can embed AirLogic-style computational capabilities in existing 3D models. We evaluate our widgets’ performance—quantifying the loss of airflow (1) in each widget type, (2) based on printing orientation, and (3) from internal object geometry. Finally, we present five applications that illustrate AirLogic’s potential.

3D printing technology can be used to rapidly prototype the look and feel of 3D objects. However, the objects produced are passive. There has been increasing interest in making these objects interactive, yet they often require assembling components or complex calibration. In this paper, we contribute AirTouch, a technique that enables designers to fabricate touch-sensitive objects with minimal assembly and calibration using pneumatic sensing. AirTouch-enabled objects are 3D printed as a single structure using a consumer-level 3D printer. AirTouch uses pre-trained machine learning models to identify interactions with fabricated objects, meaning that there is no calibration required once the object has completed printing. We evaluate our technique using fabricated objects with various geometries and touch sensitive locations, obtaining accuracies of at least 90% with 12 interactive locations.

We present SoftMod, a novel modular electronics kit consisting of soft and flexible modules that snap together. Unlike existing modular kits, SoftMod tracks the topology of interconnected modules and supports basic plug-and-play behavior as well as advanced user-specified behavior. As such, the shape of a SoftMod assembly does not depend on the desired behavior and various 2D and 3D electronic systems can be realized. While the plug-and-play nature of our modules stimulates play, the advanced features for specifying behavior and for making a variety of soft and flexible shapes, offer a high-ceiling when experimenting with novel types of interfaces, such as wearables, and interactive skin and textiles.

We present a novel DIY fabrication workflow for prototyping highly flexible circuit boards using a laser cutter. As our circuits consist of Kapton and copper, they are highly conductive and thus support high-frequency signals, such as I2C. Key to our approach is a laser machine that supports both a CO2 laser as well as a fiber laser to precisely process respectively Kapton and copper. We also show how the laser cutter can cure soldering paste to realize VIAs (Vertical Interconnect Access) and solder components. In contrast, previous approaches for prototyping flexible PCBs through laser cutting only considered CO2 lasers which can not process metals. Therefore these approaches mainly used ink-based conductors that have a significantly higher electrical resistance than copper.

We present LamiFold, a novel design and fabrication workflow for making functional mechanical objects using a laser cutter. Objects fabricated with LamiFold embed advanced rotary, linear, and chained mechanisms, including linkages that support fine-tuning and locking position. Laser cutting such mechanisms without LamiFold requires designing for and embedding off-the-shelf parts such as springs, bolts, and axles for gears. The key to laser cutting our functional mechanisms is the selective cutting and gluing of stacks of sheet material. Designing mechanisms for this workflow is non-trivial, therefore we contribute a set of mechanical primitives that are compatible with our lamination workflow and can be combined to realize advanced mechanical systems. Our software design environment facilitates the process of inserting and composing our mechanical primitives and realizing functional laser-cut objects.

We present JigFab, an integrated end-to-end system that supports casual makers in designing and fabricating constructions with power tools. Starting from a digital version of the construction, JigFab achieves this by generating various types of constraints that configure and physically aid the movement of a power tool. Constraints are generated for every operation and are custom to the work piece. Constraints are laser cut and assembled together with predefined parts to reduce waste. JigFab's constraints are used according to an interactive step-by-step manual. JigFab internalizes all the required domain knowledge for designing and building intricate structures, consisting of various types of finger joints, tenon & mortise joints, grooves, and dowels. Building such structures is normally reserved for artisans or automated with advanced CNC machinery.

We present StackMold, a DIY molding technique to prototype multi-material and multi-colored objects with embedded electronics. The key concept of our approach is a novel multi-stage mold buildup in which casting operations are interleaved with the assembly of the mold to form independent compartments for casting different materials. To build multi-stage molds, we contribute novel algorithms that computationally design and optimize the mold and casting procedure. By default, the multi-stage mold is fabricated in slices using a laser cutter. For regions that require more surface detail, a high-fidelity 3D-printed mold subsection can be incorporated. StackMold is an integrated end-to-end system, supporting all stages of the process: it provides a UI to specify material and detail regions of a 3D~object; it generates fabrication files for the molds; and it produces a step-by-step casting instruction manual.

We present a scalable Do-It-Yourself (DIY) fabrication workflow for prototyping highly stretchable yet robust devices using a CO2 laser cutter, which we call Silicone Devices. Silicone Devices are self-contained and thus embed components for input, output, processing, and power. Our approach scales to arbitrary complex devices as it supports techniques to make multi-layered stretchable circuits and buried VIAs. Additionally, high-frequency signals are supported as our circuits consist of liquid metal and are therefore highly conductive and durable. To enable makers and interaction designers to prototype a wide variety of Silicone Devices, we also contribute a stretchable sensor toolkit, consisting of touch, proximity, sliding, pressure, and strain sensors. We demonstrate the versatility and novel opportunities of our technique by prototyping various samples and exploring their use cases. Strain tests report on the reliability of our circuits and preliminary user feedback reports on the user-experience of our workflow by non-engineers.

We present StrutModeling, a computationally enhanced construction kit that enables users without a 3D modeling background to prototype 3D models by assembling struts and hub primitives in physical space. Physical 3D models are immediately captured in software and result in readily available models for 3D printing. Given the concrete physical format of StrutModels, modeled objects can be tested and fine tuned in the presence of existing objects and specific needs of users. StrutModeling avoids puzzling with pieces by contributing an adjustable strut and universal hub design. Struts can be adjusted in length and snap to magnetic hubs in any configuration. As such, arbitrarily complex models can be modeled, tested, and adjusted during the design phase. In addition, the embedded sensing capabilities allow struts to be used as measuring devices for lengths and angles, and tune physical mesh models according to existing physical objects.

We present RetroFab, an end-to-end design and fabrication environment that allows non-experts to retrofit physical interfaces. Our approach allows for changing the layout and behavior of physical interfaces. Unlike customizing software interfaces, physical interfaces are often challenging to adapt because of their rigidity. With RetroFab, a new physical interface is designed that serves as a proxy interface for the legacy controls that are now operated by actuators. RetroFab makes this concept of retrofitting devices available to non-experts by automatically generating an enclosure structure from an annotated 3D scan. This enclosure structure holds together actuators, sensors as well as components for the redesigned interface. To allow retrofitting a wide variety of legacy devices, the RetroFab design tool comes with a toolkit of 12 components. We demonstrate the versatility and novel opportunities of our approach by retrofitting five domestic objects and exploring their use cases. Preliminary user feedback reports on the experience of retrofitting devices with RetroFab.

We present PaperPulse, a design and fabrication approach that enables designers without a technical background to produce standalone interactive paper artifacts by augmenting them with electronics. With PaperPulse, designers overlay pre-designed visual elements with widgets available in our design tool. PaperPulse provides designers with three families of widgets designed for smooth integration with paper, for an overall of 20 different interactive components. We also contribute a logic demonstration and recording approach, Pulsation, that allows for specifying functional relationships between widgets. Using the final design and the recorded Pulsation logic, PaperPulse generates layered electronic circuit designs, and code that can be deployed on a microcontroller. By following automatically generated assembly instructions, designers can seamlessly integrate the microcontroller and widgets in the final paper artifact.

We present the concept of highly deformable mobile devices that can be transformed into various special-purpose controls in order to bring physical controls to mobile devices. Physical controls have the advantage of exploiting people's innate abilities for manipulating physical objects in the real world. We designed and implemented a prototype, called Paddle, to demonstrate our concept. Additionally, we explore the interaction techniques enabled by this concept and conduct an in-depth study to evaluate our transformable physical controls. Our findings show that these physical controls provide several benefits over traditional touch interaction techniques commonly used on mobile devices.

We introduce the concept of tangibles that users can manipulate with their feet. We call them kickables. Unlike traditional tangibles, kickables allow for very large interaction surfaces as kickables reside on the ground. The main benefit of kickables over other foot-based modalities, such as foot touch, is their strong affordance, which we validate in two user studies. This affordance makes kickables well-suited for walk-up installations, such as tradeshows or museum exhibits.

Interactive surfaces have great potential for co-located collaboration because of their ability to track multiple inputs simultaneously. However, the multi-user experience on these devices could be enriched significantly if touch points could be associated with a particular user. Existing approaches to user identification are intrusive, require users to stay in a fixed position, or suffer from poor accuracy. We present a non-intrusive, high-accuracy technique for mapping touches to their corresponding user in a collaborative environment. By mounting a high-resolution camera above the interactive surface, we are able to identify touches reliably without any extra instrumentation, and users are able to move around the surface at will. Our technique, which leverages the back of users' hands as identifiers, supports walk-up-and-use situations in which multiple people interact on a shared surface.