Blind and Low-vision (BLV) people face challenges in their daily lives, especially regarding independent navigation in unfamiliar settings. Assistive robots have recently emerged as assistive tools for people with special needs. Drones, in particular, have unique advantages over ground robots. Our work aims at designing a drone assistant in addition to primary mobility aids (i.e., white cane) to improve spatial awareness and navigation in unfamiliar settings. Using a Research-through-Design method with 21 BLV users, we identified challenging scenarios and the need for two distinct operating modes (Explorer and Team). We then deployed a low-fidelity prototype in a Wizard-of-Oz study. Participants were enthusiastic about the assistive drone. The outcomes were reviewed by low vision specialists and drone experts to critically assess the strengths and limitations of this assistive tool. Based on these results, we provide recommendations for future design of assistive drones tailored to BLV users.

Supporting eyes-free interaction, mobility and encumbrance, while providing a broad set of commands on a smartwatch display is a difficult, yet important, task. Bezel-to-bezel (B2B) gestures are valuable for rapid command invocation during eyes-free operation, however we lack knowledge regarding B2B interactions on circular devices during common usage scenarios. We aim to improve our understanding of the dynamics of B2B interactions in these scenarios by conducting two studies and a third analysis: First, we explore the performance of B2B in a seated position; second, we explore the effect of mobility and encumbrance on the B2B interaction; finally, we improve on the B2B accuracies by calculating features and utilizing machine learning. With the limited interaction capabilities on smartwatches and the importance of the scenario of use, we conclude with applications and design guidelines for improved utilization of B2B that enables effective smartwatch control while in common, mobile and eyes-free scenarios.

We present BezelGlide, a novel suite of bezel interaction techniques, designed to minimize screen occlusion and ‘fat finger’ effects, when interacting with common graphs on smartwatches. To explore the design of BezelGlide, we conducted two user studies. First, we quantified the amount of screen occlusion experienced when interacting with the smartwatch bezel. Next, we designed two techniques that involve gliding the finger along the smartwatch bezel for graph interaction. Full BezelGlide (FBG) and Partial BezelGlide (PBG), use the full or a portion of the bezel, respectively, to reduce screen occlusion while scanning a line chart for data. In the common value detection task, we find that PBG outperforms FBG and Shift, a touchscreen occlusion-free technique, both quantitatively and subjectively, also while mobile. We finally illustrate the generzability potential of PBG to interact with common graph types making it a valuable interaction technique for smartwatch users.

Raised-line graphics are tactile documents made for people with visual impairments (VI). Their exploration relies on a complex two-handed behavior. To better understand the cognitive processes underlying this exploration, we proposed a new method based on “tactile fixations”. A tactile fixation occurs when a finger is stationary within a specific spatial and temporal window. It is known that stationary fingers play an active role when exploring tactile graphics, but they have never been defined or studied before. In this study, we first defined the concept of tactile fixation, then we conducted a behavioral study with ten participants with VI in order to assess the role of tactile fixations under different conditions. The results show that tactile fixations vary according to different factors such as the graphic type as well as the involved hand and the aim of the exploration.

Fingertip computing has seen increased interest through miniaturized smart-rings for augmenting digital peripherals. One key advantages of such always-available input devices is the non-necessity to hold a device for interaction, as it remains affixed to a finger for access when needed. Such a wearable device makes it possible to interaction with content even when the hand is encumbered, by grasping or holding objects. Our investigation aims at understanding the properties of this fundamental smart-ring advantage. We designed a smart-ring prototype, ARO (in-Air, on-Ring, on-Object interaction), which facilitates input while grasping objects. To better identify interaction possibilities, we present the results of an elicitation study through which we grouped various forms of micro-gestures possible with ARO while holding objects under different grasp requirements. We then explored the ability for users to perform different navigation tasks (i.e. zooming and panning) using the smart-ring with encumbered hands. In our studies, users were most efficient when using either In-air or On-ring interactions, in comparisons to gestures detected On-object. Furthermore, In-air was the most preferred by our participants. Based on our findings, we conclude with recommendations for the design of future smart-rings and fingertip devices at large, to allow efficient interaction while hands are encumbered.

Despite being included in mainstream schools, visually impaired children still face barriers to social engagement and participation. Games could potentially help, but games that cater for both visually impaired and sighted players are scarce. We used a co-design approach to design and evaluate a robot-based educational game that could be inclusive of both visually impaired and sighted children in the context of mainstream education. We ran a focus group discussion with visual impairment educators to understand barriers to inclusive play. And then a series of co-design workshops to engage visually impaired and sighted children and educators in learning about robot technology and exploring its potential to support inclusive play experiences. We present design guidelines and an evaluation workshop of a game prototype, demonstrating group dynamics conducive to collaborative learning experiences, including shared goal setting/execution, closely coupled division of labour, and interaction symmetry.

Raised-line diagrams are widely used by visually impaired (VI) people to read maps, drawings or graphs. While previous work has identified general exploration strategies for raised-line drawings, we have limited knowledge on how this exploration is performed in detail and how it extends to other types of diagrams such as maps or graphs, frequently used in specialized schools. Such information can be crucial for the design of accessible interfaces on touchscreens. We conducted a study in which participants were asked to explore five types of raised-line diagrams (common drawings, perspective drawings, mathematical graphs, neighborhood maps, and geographical maps) while tracking both hands fingers. Relying on a first set of results, we proposed a set of design guidelines for touch interfaces.

Tactile raised-line maps are paper maps widely used by visually impaired people. We designed a mobile technique, based on hand tracking and a smartwatch, in order to leverage pervasive access to virtual maps. We use the smartwatch to render localized text-to-speech and vibratory feedback during hand exploration, but also to provide filtering functions activated by swipe gestures. We conducted a first study to compare the usability of a raised-line map with three virtual maps (plain, with filter, with filter and grid). The results show that virtual maps are usable, and that adding a filter, or a filter and a grid, significantly speeds up data exploration and selection. The results of a following case study showed that visually impaired users were able to achieve a complex task with the device, i.e. finding spatial correlations between two sets of data.