What happens when your walls begin to move? This paper explores the design of human-robot interaction for architectural-scale, shape-changing environments. We present findings from two studies: (1) a series of speculative design workshops (N=20) that uncovered aspirational visions for these spaces, and (2) a task-based Wizard-of-Oz elicitation study (N=12) that grounded these visions in the challenges of practical interaction. Our workshop findings reveal a complex landscape of user desires, exposing critical tensions between proactive automation and the preservation of user autonomy, and between personalization and public ownership. Our elicitation study reveals a set of core interaction challenges related to multimodal collaboration; and, most critically: suggests the need for a modality-agnostic model of evolving user intent. We conclude with a set of grounded proposals for creating robotic environments that are collaborative and trusted partners in everyday life.

It can be hard to design a physical structure entirely within the confines of a computer monitor. To better capture the interplay between real-world objects and a designer's work-in-progress, practitioners will often go through a sequence of low-fidelity prototypes (paper, clay, foam) before arriving at a form that satisfies both functional and aesthetic concerns. While necessary, this model-making process can be quite time-consuming, particularly at larger scales, and the resulting geometry can be difficult to translate into a CAD environment, where it will be further refined. This paper introduces a user-adjustable, room-scale, "shape-aware" mesh structure for low-fidelity prototyping. A user physically manipulates the mesh by lengthening and shortening the edges, altering the overall curvature and sculpting coarse forms. The edges are equipped with resistive length sensors, and transmit their configuration to a central computer. The structure can later be reproduced in software, connecting this prototyping stage to the larger computational design pipeline.

Complex actuators in a small form factor are essential for dynamic interfaces. In this paper, we propose ConeAct, a cone-shaped actuator that can extend, contract, and bend in multiple directions to support rich expression in dynamic materials. A key benefit of our actuator is that it is self-contained and portable as the whole system. We designed our actuator’s structure to be multistable to hold its shape passively, while we control its transition between states using active materials, i.e., shape memory alloys. We present the design space by showcasing our actuator module as part of self-rolling robots, reconfigurable deployable structures, volumetric shape-changing objects and tactile displays. To assist users in designing such structures, we present an interactive editor including simulation to design such interactive capabilities.

By documenting and annotating one author's ongoing project combining 3D printing and handweaving to produce computational hybrid baskets, we contribute a framework for understanding hybrid craft. We identify three levels of material practice as observed in the basketry project—physical joinery between rigid printed-plastic parts and soft textiles, seamful multipart fabrication workflows, and aesthetics which negotiate between “basketlike” and “computational” forms—and analyze tensions and possible resolutions at each level.

Robotic surfaces, whose form and function are under computational control, offer exciting new possibilities for environments that can be customized to fit user-specific needs. When these surfaces can be reprogrammed, a once-static structure can be repurposed to serve multiple different roles over time. In this paper, we introduce such a system. This is an architectural-scale robotic surface, which is able to begin in a neutral state, assume a desired functional shape, and later return to its neutral (flat) position. The surface can then assume a completely different functional shape, all under program control.

Today’s smart cities use thousands of physical sensors distributed across the urban landscape to support decision making in areas such as infrastructure monitoring, public health, and resource management. These weather-hardened devices require power and connectivity, and often cost thousands just to install, let alone maintain. In this paper, we show how long-range laser vibrometry can be used for low-cost, city-scale sensing. Although typically limited to just a few meters of sensing range, the use of retroreflective markers can boost this to 1km or more. Fortuitously, cities already make extensive use of retroreflective materials for street signs, construction barriers, road studs, license plates, and many other markings. We describe how our prototype system can co-opt these existing markers at very long ranges and use them as unpowered accelerometers for use in a wide variety of sensing applications.