We propose augmenting initially passive structures built from simple repeated cells, with novel active units to enable dynamic, shape-changing, and robotic applications. Inspired by metamaterials that can employ mechanisms, we build a framework that allows users to configure cells of this passive structure to allow it to perform complex tasks. A key benefit is that our structures can be repeatedly (re)configured by users inserting our configuration units to turn the passive material into, e.g., locomotion robots, integrated motion platforms, or interactive interfaces, as we demonstrate in this paper.

Haptic feedback is important for immersive, assistive, or multimodal interfaces, but engineering devices that generalize across applications is notoriously difficult. To address the issue of versatility, we propose Parametric Haptics, geometry-based tactile feedback devices that are customizable to render a variety of tactile sensations. To achieve this, we integrate the actuation mechanism with the tactor geometry into passive 3D printable patches, which are then connected to a generic wearable actuation interface consisting of micro gear motors. The key benefit of our approach is that the 3D-printed patches are modular, can consist of varying numbers and shapes of tactors, and that the tactors can be grouped and moved by our actuation geometry over large areas of the skin. The patches are soft, thin, conformable, and easy to customize to different use cases, thus potentially enabling a large design space of diverse tactile sensations.

Mixed Reality (MR) systems display content freely in space, and present nearly arbitrary amounts of information, enabling ubiquitous access to digital information. This approach, however, introduces clutter and distraction if too much virtual content is shown. We present BlendMR, an optimization-based MR system that blends virtual content onto the physical objects in users’ environments to serve as ambient information displays. Our approach takes existing 2D applications and meshes of physical objects as input. It analyses the geometry of the physical objects and identifies regions that are suitable hosts for virtual elements. Using a novel integer programming formulation, our approach then optimally maps selected contents of the 2D applications onto the object, optimizing for factors such as importance and hierarchy of information, viewing angle, and geometric distortion. We evaluate BlendMR by comparing it to a 2D window baseline. Study results show that BlendMR decreases clutter and distraction, and is preferred by users. We demonstrate the applicability of BlendMR in a series of results and usage scenarios.