Urban HCI investigates how digital technologies shape human behaviour within the social, spatial, temporal dynamics of public space. Meanwhile, robotic furniture research demonstrates how the purposeful animation of mundane utilitarian elements can influence human behaviour in everyday contexts. Taken together, these strands highlight an untapped opportunity to investigate how animated public furniture could mediate social interaction in urban environments. In this paper, we present the design process and in-the-wild study of mobile robotic benches that reconfigure with a semi-outdoor public space. Our findings show that the gestural performance of the benches manifested three affordances perceived by passersby, they activated engagement as robots, redistributed engagement as spatial elements, and settled engagement as infrastructure. We proposed an Affordance Transition Model (ATM) describing how robotic furniture could proactively facilitate transition between these affordances to engage passersby. Our study bridges robotic furniture and urban HCI to activate human experience with the built environment purposefully.

Although intended to foster spontaneous interactions among workers, a typical open-plan office layout cannot mitigate visual, acoustic, or privacy-related distractions that originate from unplanned meetings. As office workers often refrain from tackling these issues by manually demarcating or physically relocating to a more suitable subspace that is enclosed by movable partitions, we hypothesise that these subspaces could instead be robotically manifested. This study therefore evaluated the perceived impact of two mobile robotic partitions that were wizarded to jointly manifest an enclosed subspace, to: 1) either `mitigate' or `intervene' in the distractions caused by spontaneous face-to-face or remote meetings; or 2) either `gesturally' or `spatially' nudge a distraction-causing worker to relocate. Our findings suggest how robotic furniture should interact with office workers with and through transient space, and autonomously balance the distractions not only for each individual worker but also for multiple workers sharing the same workspace.

The vision of adaptive architecture proposes that robotic technologies could enable interior spaces to physically transform in a bidirectional interaction with occupants. Yet, it is still unknown how this interaction could unfold in an understandable way. Inspired by HRI studies where robotic furniture gestured intents to occupants by deliberately positioning or moving in space, we hypothesise that adaptive architecture could also convey intents through gestures performed by a mobile robotic partition. To explore this design space, we invited 15 multidisciplinary experts to join co-design improvisation sessions, where they manually manoeuvred a deactivated robotic partition to design gestures conveying six architectural intents that varied in purpose and urgency. Using a gesture elicitation method alongside motion-tracking data, a Laban-based questionnaire, and thematic analysis, we identified 20 unique gestural strategies. Through categorisation, we introduced architectonic gestures as a novel strategy for robotic furniture to convey intent by indexically leveraging its spatial impact, complementing the established deictic and emblematic gestures. Our study thus represents an exploratory step toward making the autonomous gestures of adaptive architecture more legible. By understanding how robotic gestures are interpreted based not only on their motion but also on their spatial impact, we contribute to bridging HRI with Human-Building Interaction research.

Cross-Reality Transitional Interfaces support tasks that require interactions at different levels of virtuality. However, there is little knowledge on how such capabilities can be scaled on vertical and life-sized surfaces, by offering haptic feedback, transitioning the surface between physical and virtual environments, and moving the surface at room-scale. The aim of our study is to generate an empirical understanding of which combinations of mixed reality and a user-controlled movable robotic surface (resulting in four virtuality levels) are better suited to execute five tasks, which differed in terms of haptic feedback. During our user study (N=24), physical environment-physical surface was used most due to its familiarity and haptic feedback, while the virtual environment mode was experienced as more relaxing and fun, and the virtual surface mode as more convenient and safer.

A typical open-plan office layout is unable to optimally host multiple collocated work activities, personal needs, and situational events, as its space exerts a range of environmental demands on workers in terms of maintaining their acoustic, visual or privacy comfort. As we hypothesise that these demands could be coped by optimising the environmental resources of the architectural layout, we deployed a mobile robotic partition that autonomously manoeuvres between predetermined locations. During a five-weeks in-the-wild study within a real-world open-plan office, we studied how 13 workers adopted four distinct adaptation strategies when sharing the spatiotemporal control of the robotic partition. Based on their logged and self-reported reasoning, we present six initiation regulating factors that determine the appropriateness of each adaptation strategy. This study thus contributes to how future human-building interaction could autonomously improve the experience, comfort, performance, and even the health and wellbeing of multiple workers that share the same workplace.

Media architecture exploits interactive technology to encourage passers-by to engage with an architectural environment. Whereas most media architecture installations focus on visual stimulation, we developed a permanent media facade that rhythmically knocks xylophone blocks embedded beneath 11 window sills, according to the human actions constantly traced via an overhead camera. In an attempt to overcome its apparent limitations in engaging passers-by more enduringly and purposefully, our study investigates the impact of feedforward learning, a constructive interaction method that instructs passers-by about the results of their actions. Based on a comparative (n=25) and a one-month in-the-wild (n=1877) study, we propose how feedforward learning could empower passers-by to understand the interaction of more abstract types of media architecture, and how particular quantitative indicators capturing this learning could predict how enduringly and purposefully a passer-might engage. We believe these contributions could inspire more creative integrations of non-visual modalities in future public interactive interventions.

Responsive architecture envisions the built environment to adapt to the changing needs of its occupants dynamically. Although it is increasingly feasible to move space-defining objects like room dividers by mobile robots, little is known about how or when such spatial adaptations should occur. We therefore measured the experience of 26 occupants while they performed six different activities inside an office breakout room that was being adapted by a robotically moving wall in either a reactive or proactive way. Based on these empirical findings, we propose how autonomous spatial adaptation should primarily aim to balance the spatial, situational and subjective qualities of the resulting sense of place. We also define eight distinct design recommendations that exploit the unique affordances of spatial adaptation. By asserting that future advances in human-building interaction (HBI) should be based on creating appropriate places rather than controlling functional spaces, we foresee how responsive architecture might become as compelling as its static counterpart.

The vision of responsive architecture predicts that human experience can be evoked through the dynamic orchestration of space-defining elements. Whereas recent studies have robotically actuated furniture for functional goals, little is known how this capability can be deployed meaningfully on an architectural scale. We thus evaluated the spatial impact of a responsive wall on the inhabitants of ordinary apartments. To maintain safety during the COVID-19 pandemic, we developed a novel remote, semi-immersive cross-reality simulation evaluation methodology. Based on the orchestration of three space-defining operations, we define a theoretical framework that suggests how the position of a responsive wall can be determined through five distinct architectural qualities. This framework thus proposes how human-building interaction (HBI) could complement its functional goals with augmenting the well-being of occupants in the physical as well as the virtual realm.