We present a novel, simple method for creating reconfigurable 6-degree-of-freedom (DOF) tangible interfaces using diametrically magnetized cylindrical magnetic chains, termed Mag-Chains. These paired magnets support stable 3-DOF motions—bending, twisting, and sliding—with passive restoring forces, while constraining other axes. This enables rich multi-magnet dynamics and expands the design space for magnetic structures. We experimentally characterize Mag-Chains behavior across multiple design parameters and summarize practical design guidelines. We also integrate sensing using either 6-DOF optical tracking or simple contact switches. Building upon these findings, we developed a fully functional 6-DOF tangible input device featuring a large workspace and passive haptic feedback along all six axes—three translational and three rotational. To demonstrate versatility, we present three applications: interactive toys, a clip-on joystick with mobile camera tracking, and a miniature finger-worn controller. Our results highlight the potential of Mag-Chains as a compact platform for building sensor-integrated and reconfigurable tangible interfaces with rich motion expressiveness.

Non-contact, mid-air haptic devices have been utilized for a wide variety of experiences, including those in extended reality, public displays, medical, and automotive domains. In this work, we explore the use of synthetic jets as a promising and under-explored mid-air haptic feedback method. We show how synthetic jets can scale from compact, low-powered devices, all the way to large, long-range, and steerable devices (Figure 1 ). We built seven functional prototypes targeting different application domains to illustrate the broad applicability of our approach. These example devices are capable of rendering complex haptic effects, varying in both time and space. We quantify the physical performance of our designs using spatial pressure and wind flow measurements and validate their compelling effect on users with stimuli recognition and qualitative studies.

Surface I/O is a novel interface approach that functionalizes the exterior surface of devices to provide haptic and touch sensing without dedicated mechanical components. Achieving this requires a unique combination of surface features spanning the macro-scale (5cm ∼ 1mm), meso-scale (1mm ∼ 200μm), and micro-scale (<200μm). This approach simplifies interface creation, allowing designers to iterate on form geometry, haptic feeling, and sensing functionality without the limitations of mechanical mechanisms. We believe this can contribute to the concept of "invisible ubiquitous interactivity at scale", where the simplicity and easy implementation of the technique allows it to blend with objects around us. While we prototyped our designs using 3D printers and laser cutters, our technique is applicable to mass production methods, including injection molding and stamping, enabling passive goods with new levels of interactivity.

Flat touch interfaces, with or without screens, pervade the modern world. However, their haptic feedback is minimal, prompting much research into haptic and shape-changing display technologies which are self-contained, fast acting, and offer millimeters of displacement while only being only millimeters thick. We present a new, miniaturizable type of shape-changing display using embedded electroosmotic pumps (EEOPs). Our pumps, controlled and powered directly by applied voltage, are 1.5mm in thickness, and allow complete stackups under 5mm. Nonetheless, they can move their entire volume’s worth of fluid in 1 second, and generate pressures of +/-50kPa, enough to create dynamic, millimeter-scale tactile features on a surface that can withstand typical interaction forces (<1N). These are the requisite technical ingredients to enable, for example, a pop-up keyboard on a flat smartphone. We experimentally quantify the mechanical and psychophysical performance of our displays and conclude with a set of example interfaces.

Virtual and augmented reality headsets are making significant progress in audio-visual immersion and consumer adoption. However, their haptic immersion remains low, due in part to the limitations of vibrotactile actuators which dominate the AR/VR market. In this work, we present a new approach to create high-resolution shape-changing fingerpad arrays with 20 haptic pixels/cm2. Unlike prior pneumatic approaches, our actuators are low-profile (5mm thick), low-power (approximately 10mW/pixel), and entirely self-contained, with no tubing or wires running to external infrastructure. We show how multiple actuator arrays can be built into a five-finger, 160-actuator haptic glove that is untethered, lightweight (207g, including all drive electronics and battery), and has the potential to reach consumer price points at volume production. We describe the results from a technical performance evaluation and a suite of eight user studies, quantifying the diverse capabilities of our system. This includes recognition of object properties such as complex contact geometry, texture, and compliance, as well as expressive spatiotemporal effects.

Today’s consumer virtual reality (VR) systems offer limited haptic feedback via vibration motors in handheld controllers. Rendering haptics to other parts of the body is an open challenge, especially in a practical and consumer-friendly manner. The mouth is of particular interest, as it is a close second in tactile sensitivity to the fingertips, offering a unique opportunity to add fine-grained haptic effects. In this research, we developed a thin, compact, beamforming array of ultrasonic transducers, which can render haptic effects onto the mouth. Importantly, all components are integrated into the headset, meaning the user does not need to wear an additional accessory, or place any external infrastructure in their room. We explored several effects, including point impulses, swipes, and persistent vibrations. Our haptic sensations can be felt on the lips, teeth and tongue, which can be incorporated into new and interesting VR experiences.

Touchscreen tracking latency, often 80ms or more, creates a rubber-banding effect in everyday direct manipulation tasks such as dragging, scrolling, and drawing. This has been shown to decrease system preference, user performance, and overall realism of these interfaces. In this research, we demonstrate how the addition of a thin, 2D micro-patterned surface with 5 micron spaced features can be used to reduce motor-visual touchscreen latency. When a finger, stylus, or tangible is translated across this textured surface frictional forces induce acoustic vibrations which naturally encode sliding velocity. This acoustic signal is sampled at 192kHz using a conventional audio interface pipeline with an average latency of 28ms. When fused with conventional low-speed, but high-spatial-accuracy 2D touch position data, our machine learning model can make accurate predictions of real time touch location.

This work aims to demonstrate and explain a nearly century old electrostatic haptic effect in human fingertips, which has since gone unreported. This effect, based on the original work of Johnsen and Rahbek [1], as well as research on electrostatic chucking devices [2], is capable of producing electrostatic forces on the finger an order of magnitude greater than those previously reported in literature. It is also capable of working with DC excitation, an aspect which stands out against previous reports which utilize purely AC excitation. This work also proposes a unified force model for this effect, drawn from electrostatic chuck research, and resolves this model with those in previous reports. We briefly discuss the background and specifics of the Johnsen-Rahbek effect, and include measurements made with our own electroadhesive surface and experimental apparatus. Finally, we discuss how this model fits in with previous observations, and its implications going forward.

With the ubiquity of wearable computing, an important and emerging challenge is to understand how to design wearable information displays for non-visual, non-auditory interaction. This is particularly relevant to the design of accessible technologies for people with vision impairments. Working towards this aim, we developed a smartwatch prototype that uses variable friction surface haptics to test initial design concepts. Through interviews and iterative prototyping with seven blind users, we identified three key use cases for a haptic smartwatch as well as embodied conceptual models for presenting haptic information. We found that a physical clock face, compass, and numerical keypad are productive representations for presenting information haptically, and these models build on existing tactile and spatial understandings of our target user group.

The TPad Tablet combines an Android tablet with a variable friction haptic touch-screen and offers many novel interaction possibilities. For example, unique textures may be associated with different user interface elements, such as text boxes and buttons. This paper presents an Android AccessibilityService that was created to give operating system-wide (OS) access to haptic effects. Prior to this work, the haptic feedback of the TPad could be controlled only from within specific applications. With the new implementation, all applications and primary user interfaces (e.g. home screen) will have access to the TPad. Rather than focus on specific elements or applications, we seek to provide a high fidelity haptic experience that elevates the TPad's accessibility to the standard of Talkback and Voiceover, Android's and Apple's accessibility programs respectively. The code for the application is available on our website.

This paper explores the use of variable friction surface haptics enabled by the TPad Tablet to support affective communication between pairs of users. We introduce three haptic applications for the TPad Tablet (text messaging, image sharing, and virtual touch) and evaluate the applications with 24 users, including intimate couples and strangers. Participants used haptics to communicate literal texture, denote action within a scene, convey emotional information, highlight content, express and engage in physical playfulness, and to provide one's partner with an experience or sensation. We conclude that users readily associate haptics with emotional expression and that the intimacy of touch in the contexts we study is best suited for communications with close social partners.