Illiteracy is a global problem impacting the growth and development of individuals and society. Studies indicate that picturebook reading within a facilitated storytime setting is an important tool for children's language acquisition. In the research reported here, we hypothesized that literacy, in an increasingly digital society, can be cultivated in a robot-embedded environment that is physical, digital and evocative of the picturebook being read. Words become worlds. To test our hypothesis, we designed, prototyped, and implemented the LIT ROOM, a cyber-physical room for literacy. As a Research through Design [RtD] exemplar for interactive systems at habitable scale, the LIT ROOM featured a multi-phase, iterative process of design and evaluation for usability and efficacy. Evaluations with 35 children and 6 librarians in a public library serving a population with grave literacy challenges suggest that our reconfigurable learning environment facilitates a diversity of children's literary responses during the dialogical reading of picturebooks.

In this paper, we present a new forward kinematic model for a novel class of long and thin continuum robots for operation in spatial workspace. Such robots are well suited for navigation through unstructured environments with superior reach using their flexible and thin profile, especially for inspection applications. This cable-like continuum robot design [1] has a concentric backbone arrangement but is spring-loaded and tendon-actuated, has improved compliance with a light and compact motor-encoder actuation mechanism. To account for the spring-loading, a compression factor is introduced on top of the established constant curvature continuum kinematics. The resulting continuum or shape variables are then estimated as a function of the measurable encoder variables. The effectiveness of the model is validated by performing experiments with the robot prototype.