Experimental digital fabrication workflows are increasingly common in human-computer interaction research, but are difficult to reproduce. We present Tandem, a software library that lets a fabricator implement an end-to-end fabrication workflow as a computational notebook program that others can run to physically reproduce the workflow. Tandem notebook programs read and write to CAD and CAM software, project augmented reality interfaces onto machines for manual interventions, and directly control fabrication machines. Fabricators can also denote potential mismatches between the physical and the digital as explicit assertions in code. Using two-sided CNC milling as an example, we demonstrate how to implement a complex workflow as a single program that can be re-run by others while supporting quality control and improving reproducibility.

Digital fabrication in industrial contexts involves standardized procedures that prioritize precision and repeatability. However, fabrication machines are now available for practitioners who focus instead on experimentation. In this paper, we reframe hobbyist CNC milling as writing literate programs which interleave documentation, interactive graphics, and source code for machine control. To test this approach, we present Imprimer, a machine infrastructure for a CNC mill and an associated library for a computational notebook. Imprimer lets makers learn experimentally, prototype new interactions for making, and understand physical processes by writing and debugging code. We demonstrate three experimental milling workflows as computational notebooks, conduct a user study with practitioners with a range of backgrounds, and discuss literate programming as a future vision for digital fabrication altogether.

Researchers who build creativity support tools (CSTs) define abstractions and software representations that align with user needs to give users the power to accomplish tasks. However, these specifications also structure and limit how users can and should think, act, and express themselves. Thus, tool designers unavoidably exert power over their users by enacting a “normative ground” through their tools. Drawing on interviews with 11 creative practitioners, tool designers, and CST researchers, we offer a definition of empowerment in the context of creative practice, build a preliminary theory of how power relationships manifest in CSTs, and explain why researchers have had trouble addressing these concepts in the past. We re-examine CST literature through a lens of power and argue that mitigating power imbalances at the level of technical design requires enabling users in both vertical movement along levels of abstraction as well as horizontal movement between tools through interoperable representations. A lens of power is one possible orientation that lets us recognize the methodological shifts required towards building “artistic support tools.”

As digital fabrication machines become widespread, online communities have provided space for diverse practitioners to share their work, troubleshoot, and socialize. These communities pioneer increasingly novel fabrication workflows, and it is critical that we understand and conceptualize these workflows beyond traditional manufacturing models. To this end, we conduct a qualitative study of #PlotterTwitter, an online community developing custom hardware and software tools to create artwork with computer-controlled drawing machines known as plotters. We documented and analyzed emergent themes where the traditional interpretation of digital fabrication workflows fails to capture important nuances and nascent directions. We find that #PlotterTwitter makers champion creative exploration of interwoven digital and physical materials over a predictable series of steps. We discuss how this challenges long-running views of digital fabrication and propose design implications for future frameworks and toolkits to account for this breadth of practice.

Digital fabrication machines for makers have expanded access to manufacturing processes such as 3D printing, laser cutting, and milling. While digital models encode the data necessary for a machine to manufacture an object, understanding the trade-offs and limitations of the machines themselves is crucial for successful production. Yet, this knowledge is not codified and must be gained through experience, which limits both adoption of and creative exploration with digital fabrication tools. To formally represent machines, we present Taxon, a language that encodes a machine’s high-level characteristics, physical composition, and performable actions. With this programmatic foundation, makers can develop rules of thumb that filter for appropriate machines for a given job and verify that actions are feasible and safe. We integrate the language with a browser-based system for simulating and experimenting with machine workflows. The system lets makers engage with rules of thumb and enrich their understanding of machines. We evaluate Taxon by representing several machines from both common practice and digital fabrication research. We find that while Taxon does not exhaustively describe all machines, it provides a starting point for makers and HCI researchers to develop tools for reasoning about and making decisions with machines.

We present Jubilee, an open-source hardware machine with automatic tool-changing and interchangeable bed plates. As digital fabrication tools have become more broadly accessible, tailoring those machines to new users and novel workflows has become central to HCI research. However, the lack of hardware infrastructure makes custom application development cumbersome. We identify a need for an extensible platform to allow HCI researchers to develop workflows for fabrication, material exploration, and other applications. Jubilee addresses this need. It can automatically and repeatably change tools in the same operation. It can be built with a combination of simple 3D-printed and readily available parts. It has several standard head designs for a variety of applications including 3D printing, syringe-based liquid handling, imaging, and plotting. We present Jubilee with a comprehensive set of assembly instructions and kinematic mount templates for user-designed tools and bed plates. Finally we demonstrate Jubilee's multi-tool workflow functionality with a series of example applications.

This paper draws on a collaborative project called the Africatown Activation to examine the role design practices play in contributing to (or conspiring against) the flourishing of the Black community in Seattle, Washington. Specifically, we describe the efforts of a community group called Africatown to design and build an installation that counters decades of disinvestment and ongoing displacement in the historically Black Central Area neighborhood. Our analysis suggests that despite efforts to include community, conventional design practices may perpetuate forms of institutional racism: enabling activities of community engagement that may further legitimate racialized forms of displacement. We discuss how focusing on amplifying the legacies of imagination already at work may help us move beyond a simple reading of design as the solution to systemic forms of oppression.