Desktop 3D printers are celebrated as “maker technology,” yet their proliferation is often bound up with a sociotechnical imaginary that privileges linear automation over material engagement. As designer-makers, we found conventional systems limiting our interaction with the materials at hand. In this work, we explore reframing 3D printing through untaming: a critical framework that treats the machine as a situated tool involving makers and materials in its operations. Specifically, we investigated how printers work with textiles, developing a new controller that enables the rhythmic coupling of maker, machine, and material movements. We detail our journey through autoethnography, documenting our design decisions and situated practices, alongside a swatchbook that captures these “untamed” actions and resulting artefacts. This pictorial offers untaming as a provocation for Making-HCI scholarship, and demonstrates an instance of how we might question our agencies with materials in digital fabrication.

In this pictorial, we present our development of a simulator for resist slip-casting: a technique for crafting textured ceramics by masking regions of a water-absorbent mold. While actual slip-casting hides material transformations under opaque liquid clay, our simulator uses 3D cellular automata to visualize the deposition process in real-time. We detail our iterative algorithmic development, from simple proximity-based accumulation to a more complex model of diffusion and slumping. Through a research-through-design lens, we further reflect on the fractured flows between virtual and real materials. We annotate the distinct materialities and temporalities the simulator embodies, considering how its departures from the “ground truth" actually heighten our sensitivity to the physical craft. We propose that such making-simulators serve as a form of intermediate-level knowledge, acting as both a design tool, and a mirror for critical reflection on the agency of makers and materials.

Physical computing engages learners in computational thinking through building interest-driven physical interactive projects. However, traditional electronic approaches require deep understanding of circuits and embedded systems — a challenge for young learners before meaningful engagement with computational concepts. This pictorial demo- nstrates an alternative, computer vision (CV) approach using fiducial markers and craft materials, through a workshop model where learners design custom controllers for video games. With learner stories from workshops with learners aged 10-15, and emerging themes of computational, material, and social moments, we illustrate how CV-driven physical comp-uting can be an effective, low-barrier, introduction to computing that preserves the creative learning benefits of physical computing.

Tangible User Interfaces (TUIs) that integrate digital information with physical interaction require specialized hardware and complex calibration, limiting their adoption in portable or mobile display systems. This paper introduces ArUcoTUI, a computer vision (CV) toolkit for prototyping tangible interactions on portable screens, leveraging standard cameras and the OpenCV library. ArUcoTUI uses ArUco fiducial markers to detect physical inputs. The software toolkit offers streamlined calibration, a signal processing pipeline, and a client application that translates tangible input into structured events for use in HCI applications. Using a conventional camera in a top-down setting with a flat-panel display, we demonstrate how this toolkit supports the development of interactive surface TUIs with advanced features, including 3D spatial interaction, multi-device interaction, and actuated tangibles within applications. We describe the software implementation, which utilizes accessible hardware to support the development of these tangible interactions. We provide the results of a preliminary evaluation with users, including design implications and suggestions for future research and development.

Outdated Computer Vision (CV) toolkits for Tangible User Interfaces (TUI) have led to fragmented practices, diminished reproducibility, and reduced community support. This paper examines the past, present, and future trajectory of CV-TUI toolkits. Our scoping review of ACM literature (N=120) reveals a divergence between applications using the limited interactions of established toolkits like ReacTIVision and the fragmented, bespoke systems built for complex interactions, highlighting the need for advanced toolkits that enable accessible making. We found how ReacTIVision-based projects were primarily used in stationary tabletop settings with standard token events, while non-ReacTIVision projects explored unique interaction techniques in diverse configurations. Reflecting on these insights, we offer six suggestions for building the next-generation CV-TUI toolkits to support rapid prototyping of tangible interactions. This study provides the TUI community with an updated perspective to inform future research.

Despite technology's pervasive integration into aged care to address aging populations and labor shortages, its deployment often overlooks the critical role of care workers who shape the experience of care through technologies. This paper presents a four-month ethnographic study at a long-term residential aged care facility in Singapore, involving 37 staff members from frontline workers to senior management. We examine how they adopt, implement, and use three distinct digital technologies at different stages of maturity in the delivery of care. Adopting an infrastructuring lens, our findings, presented through six affective vignettes, reveal the invisible labor involved in ''patchworking'' technologies implemented in a top-down, fragmented manner as well as the significant impacts on workers' liability and professional agency. The discussion unpacks the invisible burden of organizational unpreparedness in technology integration, the resulting negotiation of care work's meaning and power differentials with care workers for decent work.

Live drills are the gold standard for mass casualty incident (MCI) training but are often too resource-intensive for widespread implementation. Immersive technologies offer a promising alternative, but can they deliver comparable fidelity and effectiveness? Working with a local disaster response academy, this paper investigated the potential of Augmented Virtuality (AV) in MCI training through two phases. First, we conducted a landscape analysis of 126 papers across the virtuality continuum, revealing trends in population, training focus, and evaluation metrics. Second, we empirically evaluated an AV system for mass casualty triage training against traditional role-playing and Virtual Reality (VR) approaches, involving 60 trainees in an operational curriculum. Results indicated that both AV and VR surpassed traditional simulations, with AV’s tactile integration significantly enhancing physical engagement, satisfaction, and triage accuracy. Through the lens of triage, we discussed the broader practical implications of integrating immersive technologies like AV into real-world MCI education.

Ceramics provide a rich domain for exploring craft, fabrication, and diverse material textures that enhance tangible interaction.In this work, we explored slip-casting, a traditional ceramic technique where liquid clay is poured into a porous plaster mold that absorbs water from the slip to form a clay body.We adapted this process into an approach we called Resist Slip-Casting.By selectively masking the mold's surface with stickers to vary its water absorption rate, our approach enables makers to create ceramic objects with intricate textured surfaces, while also allowing the customization of a single mold for different outcomes.In this paper, we detail the resist slip-casting process and demonstrate its application by crafting a range of tangible interfaces with customizable visual symbols, tactile features, and decorative elements.We further discuss our approach within the broader conversation in HCI on fabrication machines that promote creative collaboration between humans, materials, and tools.

Reconfigurable physical interfaces empower users to swiftly adapt to tailored design requirements or preferences. Shape-changing interfaces enable such reconfigurability, avoiding the cost of refabrication or part replacements. Nonetheless, reconfigurable interfaces are often bulky, expensive, or inaccessible. We propose a reversible shape-changing mechanism that enables reconfigurable 3D printed structures via translations and rotations of parts. We investigate fabrication techniques that enable reconfiguration using magnets and the thermoplasticity of heated polymer. Proposed interfaces achieve tunable haptic feedback and adjustment of different user affordances by reconfiguring input motions. The design space is demonstrated through applications in rehabilitation, embodied communication, accessibility, safety, and gaming.

Electronic composites incorporate computing into physical materials, expanding the materiality of interactive systems for designers. In this research, we investigated acrylic as a substrate for electronics. Acrylic is valued for its visual and structural properties and is used widely in industrial design. We propose e-acrylic, an electronic composite that incorporates electronic circuits with acrylic sheets. Our approach to making this composite is centered on acrylic making practices that industrial designers are familiar with. We outline this approach systematically, including leveraging laser cutting to embed circuits into acrylic sheets, as well as different ways to shape e-acrylic into 3D objects. With this approach, we explored using e-acrylic to design interactive artifacts. We reflect on these applications to surface a design space of tangible interactive artifacts possible with this composite. We also discuss the implications of aligning electronics to an existing making practice, and working with the holistic materiality that e-acrylic embodies.

Paper and touchscreen devices are two common objects found around us, and we investigated the potential of their intersection for tangible interface design. In this research, we developed PaperTouch, an approach to design paper based mechanisms that translate a variety of physical interactions to touch events on a capacitive touchscreen. These mechanisms act as switches that close during interaction, connecting the touchscreen to the device’s ground bus. To develop PaperTouch, we explored different types of paper along with the making process around them. We also built a range of applications to showcase different tangible interfaces facilitated with PaperTouch, including music instruments, educational dioramas, and playful products. By reflecting on this exploration, we uncovered the emerging design dimensions that considers the interactions, materiality, and embodiment of PaperTouch interfaces. We also surfaced the tacit know-how that we gained through our design process through annotations for others to refer to.

Driven by the vision of future responsive environments, where everyday surroundings can perceive human behaviors and respond through intelligent robotic actuation, we propose Wizard of Props (WoP): a human-centered design workflow for creating expressive, implicit, and meaningful interactions. This collaborative experience prototyping approach integrates full-scale physical props with Mixed Reality (MR) to support ideation, prototyping, and rapid testing of responsive environments. We present two design explorations that showcase our investigations of diverse design solutions based on varying technology resources, contextual considerations, and target audiences. Design Exploration One focuses on mixed environment building, where we observe fluid prototyping methods. In Design Exploration Two, we explore how novice designers approach WoP, and illustrate their design ideas and behaviors. Our findings reveal that WoP complements conventional design methods, enabling intuitive body-storming, supporting flexible prototyping fidelity, and fostering expressive environment-human interactions through in-situ improvisational performance.

In this paper, we propose SwellSense, a fabrication technique to screen print stretchable circuits onto a special micro-capsule paper, creating localized swelling patterns with sensing capabilities. This simple technique will allow users to create a wide range of paper-based tactile interactive devices, which are mostly maintaining 2D planar form factor but can also be curved or folded into 3D interactive artifacts. We frst present the design guidelines to support various tactile interaction design including basic tactile graphic geometries, patterns with directional density, or fner interactive textures with embedded sensing such as touch sensor, pressure sensor, and mechanical switch. We then provide a design editor to enable users to design more creatively using the SwellSense technique. We provide a technical evaluation and user evaluation to validate the basic performance of SwellSense. Lastly, we demonstrate several application examples and conclude with a discussion on current limitations and future work.

The electronics-centered approach to physical computing presents challenges when designers build tangible interactive systems due to its inherent emphasis on circuitry and electronic components. To explore an alternative physical computing approach we have developed a computer vision (CV) based system that uses a webcam, computer, and printed fiducial markers to create functional tangible interfaces. Through a series of design studios, we probed how designers build tangible interfaces with this CV-driven approach. In this paper, we apply the annotated portfolio method to reflect on the fifteen outcomes from these studios. We observed that CV markers offer versatile materiality for tangible interactions, afford the use of democratic materials for interface construction, and engage designers in embodied debugging with their own vision as a proxy for CV. By sharing our insights, we inform other designers and educators who seek alternative ways to facilitate physical computing and tangible interaction design.

Glazed ceramic is a versatile material that we use every day. In this paper, we present a new approach that instruments existing glazed ceramic ware with interactive electronic circuits. We informed this work by collaborating with a ceramics designer and connected his craft practice to our experience in physical computing. From this partnership, we developed a systematic approach that begins with the subtractive fabrication of traces on glazed ceramic surfaces via the resist-blasting technique, followed by applying conductive ink into the inlaid traces. We capture and detail this approach through an annotated flowchart for others to refer to, as well as externalize the material insights we uncovered through ceramic and circuit swatches. We then demonstrate a range of interactive home applications built with this approach. Finally, we reflect on the process we took and discuss the importance of collaborating with craftspeople for material-driven research within HCI.

Tinycade is a platform designed to help game designers build their own mini arcade games by hand. With this platform, one can craft functioning game controllers out of everyday materials such as cardboard and toothpicks. By utilizing computer vision markers, we can create a variety of inputs without a single wire. In this pictorial, we discuss the functionality of Tinycade and showcase three games that demonstrate the variety of controls possible with this platform.

Designing a data physicalization requires a myriad of different considerations. Despite the cross-disciplinary nature of these considerations, research currently lacks a synthesis across the different communities data physicalization sits upon, including their approaches, theories, and even terminologies. To bridge these communities synergistically, we present a design space that describes and analyzes physicalizations according to three facets: context (end-user considerations), structure (the physical structure of the artifact), and interactions (interactions with both the artifact and data). We construct this design space through a systematic review of 47 physicalizations and analyze the interrelationships of key factors when designing a physicalization. This design space cross-pollinates knowledge from relevant HCI communities, providing a cohesive overview of what designers should consider when creating a data physicalization while suggesting new design possibilities. We analyze the design decisions present in current physicalizations, discuss emerging trends, and identify underlying open challenges.

This paper presents FlexHaptics, a design method for creating custom haptic input interfaces. Our approach leverages planar compliant structures whose force-deformation relationship can be altered by adjusting the geometries. Embedded with such structures, a FlexHaptics module exerts a fine-tunable haptic effect (i.e., resistance, detent, or bounce) along a movement path (i.e., linear, rotary, or ortho-planar). These modules can work separately or combine into an interface with complex movement paths and haptic effects. To enable the parametric design of FlexHaptic modules, we provide a design editor that converts user-specified haptic properties into underlying mechanical structures of haptic modules. We validate our approach and demonstrate the potential of FlexHaptic modules through six application examples, including a slider control for a painting application and a piano keyboard interface on touchscreens, a tactile low vision timer, VR game controllers, and a compound input device of a joystick and a two-step button.

We present Shape-Haptics, an approach for designers to rapidly design and fabricate passive force feedback mechanisms for physical interfaces. Such mechanisms are used in everyday interfaces and tools, and they are challenging to design. Shape-Haptics abstracts and broadens the haptic expression of this class of force feedback systems through 2D laser cut configurations that are simple to fabricate. They leverage the properties of polyoxymethylene plastic and comprise a compliant spring structure that engages with a sliding profile during tangible interaction. By shaping the sliding profile, designers can easily customize the haptic force feedback delivered by the mechanism. We provide a computational design sandbox to facilitate designers to explore and fabricate Shape-Haptics mechanisms. We also propose a series of applications that demonstrate the utility of Shape-Haptics in creating and customizing haptics for different physical interfaces.

4D printing is a new technique for human-computer interaction to create self bending and actuating interfaces, leveraging the properties of 3D printed materials for shape change over time, triggered by external factors such as heat. Given the ubiquity of low-cost 3D printers, we see an opportunity to translate 4D printing from the research lab into makerspaces and educational settings. In this work, we explore low cost 4D printing with shape memory polymers and desktop 3D printers, tackling hybrid fabrication approach to lower the barrier for non-experts. We see heat as one promising way of creating shape changing behaviors using common triggering methods such as oven, hair dryer, hot water. We present the initial design space for hybrid fabrication with factors that help characterize and control bending behaviors, showcasing potential design contexts with 4D printed applications.

This pictorial presents a design investigation at the intersection of paper and computer vision for tangible interfaces. Through this exploration, we uncovered various characteristics of paper that connect tangible interactions with concealing and revealing printed fiducial markers for detection-particularly through the affordances of paper craft and fiber. We illustrate a variety of paper structures that construct and deconstruct fiducial markers. We also demonstrate how these structures enable untethered functional physical inputs, such as push buttons and sliders. We showcase four proposals that extend these material insights into tangible interface applications, including interactive data physicalizations and functional paper prototypes. Furthermore, we continue the legacy of pictorials by exposing fabrication drawings for others to engage with this work at a more practical level.

RoomShift is a room-scale dynamic haptic environment for virtual reality, using a small swarm of robots that can move furniture. RoomShift consists of nine shape-changing robots: Roombas with mechanical scissor lifts. These robots drive beneath a piece of furniture to lift, move and place it. By augmenting virtual scenes with physical objects, users can sit on, lean against, place and otherwise interact with furniture with their whole body; just as in the real world. When the virtual scene changes or users navigate within it, the swarm of robots dynamically reconfigures the physical environment to match the virtual content. We describe the hardware and software implementation, applications in virtual tours and architectural design and interaction techniques.

Many toys and kits have been developed to help cultivate computational thinking in young children in the past decade. However, a majority of these kits ask children to move a robot/character around a limited space, constraining what could otherwise be generative and creative learning experiences into pre-defined activities and challenges with uniform outcomes. How can we expand what children can program and how they can create code? In this work, we present CodeAttach, a learning kit designed to engage young children in computational thinking through physical play activities. CodeAttach consists of three parts: (1) an interactive hardware device, (2) a mobile application to program the device, and (3) supporting materials for different play activities. With CodeAttach, children can attach the device to the supporting materials or other everyday objects to create their own props for physical play. The device offers different inputs and outputs and supports children to change the rules of existing physical activities or create new activities by programming this device. We outline the principles guiding the design of CodeAttach, its initial development process, and insights from early playtest with young kids and expert researchers.

This pictorial presents our material-driven inquiry into carbon-coated paper and kirigami structures. We investigated two variations of this paper and their affordances for tangible interaction; particularly their electrical, haptic, and visual aspects when shaped into three-dimensional forms through cutting, folding, and bending. Through this exploration, we uncovered distinct affordances between the two paper types for sensing folds and bends, due to differences in their material compositions. From these insights, we propose three applications that showcase the possibilities of this material for tangible interaction design. In addition, we leverage the pictorial format to expose working design schematics for others to take up their own explorations.

We present Mechamagnets, a technique for facilitating the design and fabrication of haptic and functional inputs for physical interfaces. This technique consists of a set of 3D printed spatial constraints which facilitate different physical movements, as well as unpowered haptic profiles created by embedding static magnets in 3D printed parts. We propose the Mechamagnets taxonomy to map the design space of this technique for designers and makers. Furthermore, we leverage the use of magnets by instrumenting these objects with linear Hall effect sensors to create functional digital inputs. We showcase Mechamagnets with a series of novel physical interfaces made with this technique.

We introduce shape-changing swarm robots. A swarm of self-transformable robots can both individually and collectively change their configuration to display information, actuate objects, act as tangible controllers, visualize data, and provide physical affordances. ShapeBots is a concept prototype of shape-changing swarm robots. Each robot can change its shape by leveraging small linear actuators that are thin (2.5 cm) and highly extendable (up to 20cm) in both horizontal and vertical directions. The modular design of each actuator enables various shapes and geometries of self-transformation. We illustrate potential application scenarios and discuss how this type of interface opens up possibilities for the future of ubiquitous and distributed shape-changing interfaces.

Industrial designers working to develop tangible interactive systems require new skills to integrate technology into their prototypes. My research investigates how to facilitate physical computing for industrial design students in a manner that is in line with the practices and values of the profession. Different toolkits have been developed through this research to scaffold industrial designers as they make tangible interactive artifacts. Through investigating this toolkits in the wild, I aim to develop an approach to inform educators as they structure industrial design programs to support students in design tangible interactive systems.

This paper presents Mechamagnets, a technique to rapidly prototype tactile mechanisms for tangible interfaces. We demonstrate how to embed different passive tactile mechanisms in physical systems through a combination of magnets and digitally fabricated parts. We also discuss how DIY materials and 3-axis magnetometers can instrument Mechamagnet interfaces into functional prototypes.

Laser cutting is widely used by industrial designers and mechanical engineers as a rapid modeling tool. However, designing and fabricating laser cut assemblies can be a complex and tedious process, especially for novice designers. Through our research, we developed Joinery, a parametric joint generation tool for laser cut assemblies. Through Joinery, designers simply define connections between parts of an assembly, while the system generates the joints. Joinery supports fabrication-aware design through six different joint profiles that cater to different material and design needs. In this paper, we illustrate the use of Joinery as a creativity support tool in an industrial design process, and present several artifacts resulting from the tool. In addition, we discuss our findings from deploying this system in a college-level industrial design class.

Combining practices of craft and tangible interaction design opens up new opportunities for both domains. But structuring cross-domain collaboration between the two poses challenges. How can we set up a crafter-designer collaboration to utilize the different fields of expertise and include separate practices? We address this question through a co-design research approach that stands in context with existing work discussed. We propose a design perspective that builds on an initial distinction between the collaborators, repositions the construction of the brief, and culminates into a collaboration through the shared object. This perspective is described in a collaboration between an interaction designer and a ceramic artist. The resulting collaboration model is presented through this co-design driven collaborative case study in pottery and interaction design that exemplifies collaborative practices to improve tangible designs.

Fusilli is a natural interface developed for end-users to explore and customize the design of a parametric wrist accessory. The natural interface utilizes bare-hand interactions, designed to enable end-users to control the parameters of wrist accessory, and export designs for additive manufacturing. This paper describes the interaction concept and design details of the interface, as well as a preliminary evaluation of this interface against a control interface utilizing sliders to affect the parameters. This paper concludes with the evaluation results, along with a discussion of the insights uncovered from the user study.