Gastric interoception influences eating behavior and emotions, making its modulation valuable for healthcare and human-computer-interaction applications. However, whether gastric interoception can be modulated noninvasively in humans remains unclear. While previous research indicates that abdominal-sound-driven haptic feedback resembles gut sensations, its impact on gastric feelings and gastric interoceptive behavior is unknown. We conducted three experiments totalling 55 participants to investigate how gut-sound-driven audio-haptic feedback applied to the stomach (1) affects user’s feelings (2) influences perception of hunger and satiety levels and (3) influences gastric interoceptive behavior, quantified with Water Load Test-II. Results revealed that audio-haptic feedback patterns (a) induced the feelings of hunger, fullness, thirst, stomach upset, (b) increased hunger level, and (c) significantly increased volumes of ingested water. This work provides the first evidence that audio-haptic stimulation can alter gastric interoceptive behavior, motivating the use of noninvasive methods to influence users’ feelings and behaviors in future applications.

Responsiveness in large language model (LLM) applications is widely assumed to be critical, yet the impact of latency on user behavior and perception of output quality has not been systematically explored. We report a controlled experiment varying time-to-first-token latency (2, 9, 20 seconds) across two taxonomy-driven knowledge task types (Creation and Advice). Log analyses reveal that user interaction behaviors were robust to latency, yet varied by task type: Creation tasks elicited more frequent prompting than Advice tasks. In contrast, participants who experienced 2-second latencies rated the LLM’s outputs less thoughtful and useful than those who experienced 9- or 20-second latencies. Participants attributed delays to AI deliberation, though long waits occasionally shifted this interpretation toward frustration or concerns about reliability. Overall, this work demonstrates that latency is not simply a cost to reduce but a tunable design variable with ethical implications. We offer design strategies for enhancing human-LLM interaction.

Drones have gained traction as a versatile form of assistive robots for Blind and Low Vision (BLV) people. Nonetheless, novel interaction techniques are required to enable BLV people to communicate with drones naturally. In this work, we built an LLM-powered assistive drone for BLV users. We leverage an LLM to translate high-level user goals to step-by-step instructions for the drone and to extract visual information from the images. Through a formative study with BLV users (N=9), we identified envisioned use cases and desired interaction modalities. Then, we took a participatory and iterative approach to build a prototype, incorporating feedback received from 3 BLV users, as well as 5 domain experts. Finally, we conducted a user study with an additional 6 BLV participants to evaluate the iterated prototype, and received positive feedback. This work is contributing to a growing body of research on harnessing the power of LLMs to build a more inclusive world.

To support seamless mixed reality (MR) interactions without obstructing natural touch, we introduce PhantomFolds, a nail-mounted device featuring two linear resonant actuators (LRAs) at the lateral nail folds that provide spatio-tactile feedback for in-air as well as on-surface interactions in MR. In three studies, we investigate the perception of spatio-tactile feedback produced by PhantomFolds. Our results show that (1) PhantomFolds can leverage the funneling illusion to produce spatio-tactile feedback at the finger for in-air as well as on-surface interactions, (2) tactile feedback produced with PhantomFolds can successfully increase the perceived realism in MR applications without impeding user interaction, (3) phantom sensations, are perceived more localized when users touch a surface, and (4) while participants could not consistently feel touch illusions below the finger when touching a surface as described by prior work, our results indicate that a per-user calibration could increase the success rate of this effect in the future.

We introduce Prompt-to-Touch, a proof-of-concept of a multi-step pipeline that generates haptic effects based on the textual description of a haptic experience. Our pipeline first translates the haptic effect description to a sound effect description using our Foley-Interpreter component. It then uses a text-to-audio model to generate a sound effect from the sound description. Afterwards, the sound effect is converted into a perceivable haptic effect using our Dynamic-Audio-Processor . Finally, the haptic effect is post-processed to compensate for actuator-specific frequency response characteristics. We validate our concept in two preliminary human evaluation studies (n = 20, n = 10) and a technical analysis. Our results indicate that our pipeline can generate effects to enhance immersive multimedia experiences, abstract desktop/XR interactions, and social communication applications. They also still reveal significant potential for further improvement. Our pipeline could be used to develop future text-driven haptic design and automation tools. We provide open-source code to support future extensions.

Designing effective haptic feedback is challenging due to the subjective nature of touch and the fact that multiple people cannot easily share and evaluate touch experiences. In this work, we propose CoTacs, a collaborative haptic toolkit to address the challenges of haptic feedback design by enabling designers to explore haptic experiences together using group collaboration and allowing them to refine ideas quickly through early feedback during the design process. Two design sessions with five collaborators each show that CoTacs enables users to design, evaluate, refine and explore haptic feedback together. Participants leveraged group feedback to improve their designs and inspire creative ideas for the second collaboration round. Our work demonstrates how collaborative haptic toolkits can enable synergistic effects through interactions between the designers, benefiting haptic feedback design while still exposing several limitations. We discuss different opportunities for the design of future collaborative haptic toolkits and haptic group collaboration techniques.

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.