We introduce DuoMorph, a design and fabrication method that synergistically integrates Fused Deposition Modeling(FDM) printing and pneumatic actuation to create novel shape-changing interfaces. In DuoMorph, the printed structures and heat-sealed pneumatic elements are mutually designed to actuate and constrain each other, enabling functions that are difficult for either component to achieve in isolation. Moreover, the entire hybrid structure can be fabricated through a single, seamless process using only a standard FDM printer—including both heat-sealing and 3D/4D printing. In this paper, we define a design space including four primitive categories that capture the fundamental ways in which printed and pneumatic components can interact. To support this process, we present a fabrication method and an accompanying design tool. Finally, we demonstrate the potential of DuoMorph through example applications and performance demonstrations.

This study presents Whisk, an interactive robot designed to alleviate Child Dental Anxiety (CDA) and promote health and well-being in line with the United Nations Sustainable Development Goals. Modeled as a hedgehog, Whisk simulates frightened behaviors such as curling up and raising its quills, interacting with children and guiding them to soothe the robot, thereby reducing their own anxiety. The robot's tactile feedback mechanism helps children shift their attention from fears of dental treatment to caring for the vulnerable robot, improving treatment compliance and alleviating anxiety. User experiments indicate that Whisk is effective in reducing CDA, with the robot's weakness eliciting altruistic behaviors from children. Future work will focus on optimizing emotion recognition and feedback mechanisms, as well as exploring its applications in other medical contexts. Whisk offers a novel solution for children's dental treatment, aiming to enhance the treatment experience and promote health and well-being.