This paper presents XRtic, a prototyping toolkit enabling real-world cloth deformations to be used in novel ways in eXtended Reality (XR) applications. XRtic was developed based on the insights gathered from semi-structured interviews with XR developers. It consists of custom-made actuators that can be attached to regular clothing, a controller bus system, and a controller interface. Using our toolkit, users can design and integrate different cloth deformation types synchronised with virtual content in a plug-and-play manner. Along with a technical analysis of the actuation behaviour of the XRtic actuators, we present the findings gathered from a user study with eight XR developers, focusing on the usability of the system and creative support. Overall, participants found it an easy-to-use toolkit that supports iterative and rapid prototyping, and enables cloth to be deformed in unique ways in synchronisation with XR applications. Based on the findings, we also report limitations and future work relating to our system.

We present ANISMA, a software and hardware toolkit to prototype on-skin haptic devices that generate skin deformation stimuli like pressure, stretch, and motion using shape-memory alloys (SMAs). Our toolkit embeds expert knowledge that makes SMA spring actuators more accessible to human–computer interaction (HCI) researchers. Using our software tool, users can design different actuator layouts, program their spatio-temporal actuation and preview the resulting deformation behavior to verify a design at an early stage. Our toolkit allows exporting the actuator layout and 3D printing it directly on skin adhesive. To test different actuation sequences on the skin, a user can connect the SMA actuators to our customized driver board and reprogram them using our visual programming interface. We report a technical analysis, verify the perceptibility of essential ANISMA skin deformation devices with 8 participants, and evaluate ANISMA regarding its usability and supported creativity with 12 HCI researchers in a creative design task.

Emerging research has demonstrated the viability of on-textile actuation mechanisms, however, an easily customizable and versatile on-cloth actuation mechanism is yet to be explored. In this paper, we present ClothTiles along with its rapid fabrication technique that enables actuation of clothes. ClothTiles leverage flexible 3D-printing and Shape-Memory Alloys (SMAs) alongside new parametric actuation designs. We validate the concept of fabric actuation using a base element, and then systematically explore methods of aggregating, scaling, and orienting prospects for extended actuation in garments. A user study demonstrated that our technique enables multiple actuation types applied across a variety of clothes. Users identified both aesthetic and functional applications of ClothTiles. We conclude with a number of insights for the Do-It-Yourself community on how to employ 3D-printing with SMAs to enable actuation on clothes.

We present a wearable forearm augmentation that enables the recreation of natural touch sensation by applying shear-forces onto the skin. In contrast to previous approaches, we arrange light-weight and stretchable 3x3cm plasters in a matrix onto the skin. Individual plasters were embedded with lines of shape-memory alloy (SMA) wires to generate shear-forces. Our design is informed by a series of studies investigating the perceptibility of different sizes, spacings, and attachments of plasters on the forearm. Our matrix arrangement enables the perception of touches, for instance, feeling ones wrist being grabbed or the arm being stroked. Users rated the recreated touch sensations as being fairly similar to a real touch (4.1/5). Even without a visual representation, users were able to correctly distinguish them with an overall accuracy of 94.75%. Finally, we explored two use cases showing how AR and VR could be empowered with experiencing recreated touch sensations on the forearm.

Sensing interfaces relying on head or facial gestures provide effective solutions for hands-free scenarios. Most of these interfaces utilize sensors attached to the face, as well as into the mouth, being either obtrusive or limited in input bandwidth. In this paper, we propose ChewIt -- a novel intraoral input interface. ChewIt resembles an edible object that allows users to perform various hands-free input operations, both simply and discreetly. Our design is informed by a series of studies investigating the implications of shape, size, locations for comfort, discreetness, maneuverability, and obstructiveness. Additionally, we evaluated potential gestures that users could use to interact with such an intraoral interface.