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.

Live commerce platforms frequently employ algorithmic recommendations and time-limited promotions to trigger impulsive purchases, challenging rational consumer decision-making. While existing research has identified manipulative design patterns in live commerce, significant gaps remain in understanding consumer psychological motivations and developing counter-persuasion interventions. We conducted a multi-stage formative study involving surveys (N = 116), interviews (N = 21), and co-design workshops (N = 16) to explore user preferences for rational consumption support systems. Informed by these insights, we designed BuyMate, which provides gentle, real-time rational interventions through product comparison and persuasive speech reframing. A user evaluation (N = 35) demonstrates that the system effectively reduces impulsive purchases, enhances decision autonomy, and promotes sustainable consumption. This work contributes an AI-driven counter-persuasion approach, identifies user-centered principles for adaptive interventions, and offers practical guidance for responsible AI in digital commerce.

Virtual Reality (VR) has been widely adopted in domains such as gaming, education, and healthcare, where 3D props play a central role in enabling immersive interaction. With the advancement of generative AI, 3D props can now be created rapidly; however, little research has explored how gestures and speech can be integrated to support prop generation. To address this gap, we introduce GestuProp, a VR prop generation system driven by co-speech gestures. Building on a formative study with 30 participants, we proposed a gesture design space and developed the VR system GestuProp. We then conducted a user study with 14 participants, which showed that GestuProp demonstrates good usability and favorable user experiences, while also revealing how object categories influence gesture use and interaction. These findings highlight the potential of gesture–speech synergy to advance prop generation in VR.

This paper introduces PuppetLine, an interactive storytelling system that translates natural language narratives into coordinated performances using tabletop robots. The system combines large language models with a constrained set of action and emotion primitives to generate physically executable and interpretable multi-robot motions. We describe the system design and report findings from a designer-centered user study examining how people interpret and reflect on robot enactments. The results provide formative insights into mapping narrative intent to embodied interaction and inform the design of narrative Swarm User Interfaces.

Smart materials have garnered significant attention in both academia and industry, yet identifying pragmatically impactful applications still requires contributions from multiple stakeholders, including researchers, designers, and industry professionals.Although previous research has explored novel technical approaches or user-centered applications of smart materials, this study focuses on how to stimulate effective dialogue among stakeholders to explore impactful smart material applications.

This paper presents AccessiBot, a tactile paving detection robot developed to address urban accessibility challenges. Beyond collecting real-time data for evidence-based governance, this study explores AccessiBot's potential to encourage citizen engagement. Using the Wizard-of-Oz methodology, we conducted an in-the-wild study to simulate real-world interactions and observe how people respond to the robot. Our observation findings show that people do help robots, and their engagement with the robot varied significantly, ranging from passive acknowledgement to active assistance. Besides, post-hoc interviews indicated that participants recognized the robot's social value.

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.

Chewing is an essential developmental activity for toddlers, especially those aged 2 to 3 years. However, some children have underdeveloped chewing abilities and lack adequate practice. To address this, we propose Chewiebot, a standardized chewable training robot to enhance toddlers' chewing skills. Chewiebot's interaction design utilizes sweet taste rewards as feedback, incorporating playing house elements to make the chewing practice more engaging and encourage children to practice. Chewiebot's design challenges traditional electronic robots by replacing conventional circuits with fluid circuits, ensuring a safe chewing experience for children. Paving the way for safe and eco-friendly designs in child-robot interactions.

While Swarm User Interfaces (SUIs) have succeeded in enriching tangible interaction experiences, their limitations in autonomous action planning have hindered the potential for personalized and dynamic interaction generation in tabletop games. Based on the AI-Gadget Kit we developed, this paper explores how to integrate LLM-driven agents to enable SUIs to execute interaction tasks within tabletop games. After defining the design space of this kit, we elucidate the method for designing agents that can extend the meta-actions of SUIs to motion planning. Furthermore, we introduce an add-on prompt method that simplifies the design process for four interaction relationships in tabletop games. Lastly, we present an example that illustrates the potential of AI-Gadget Kit to construct personalized complex interactions in SUI tabletop games.

InkBrush is a new sketch-based 3D drawing tool for creating 3D ink paintings using free-form 3D ink strokes. It offers a digital calligraphy brush and various editing tools to generate realistic ink-like brush strokes with attributes like hairy edges, ink drips, and scattered dots. Users can adjust parameters such as moisture, color, darkness, dryness, and stroke style to customize the appearance of the brush strokes. The development of InkBrush was guided by a design study involving artists and designers. It was developed as a plugin for Blender, a popular 3D modeling tool, and its effectiveness and usability were evaluated through a user study involving 75 participants. Preliminary feedback from the participants was overwhelmingly positive, indicating that InkBrush was intuitive and easy to use. Following this, we also sought in-depth assessments from experts in ink painting and 3D design. Their evaluations further demonstrated the effectiveness of InkBrush.

Digital Musical Instruments (DMIs) have been integrated into group music therapy, providing therapists with alternative ways to engage in musical dialogues with their clients. However, existing DMIs used in group settings are primarily designed for individual use and often overlook the social dynamics inherent in group therapy. Recognizing the crucial role of social interaction in the effectiveness of group therapy, we argue that Collaborative Digital Musical Instruments (CDMIs), seamlessly integrating social interaction with musical expression, hold significant potential to enhance group music therapy. To better tailor CDMIs for group music therapy, we engaged in a co-design process with music therapists, designing and practicing group therapy sessions involving the prototype ComString. In the end, we reflected on the co-design case to suggest future directions for designing CDMIs in group music therapy.

Shadow puppetry, a culturally rich storytelling art, faces challenges transitioning to the digital realm. Creators in the early design phase struggle with crafting intricate patterns, textures, and basic animations while adhering to stylistic conventions - hindering creativity, especially for novices. This paper presents Lumina, a tool to facilitate the early Chinese shadow puppet design stage. Lumina provides contour templates, animations, scene editing tools, and machine-generated traditional puppet patterns. These features liberate creators from tedious tasks, allowing focus on the creative process. Developed based on a formative study with puppet creators, the web-based Lumina enables wide dissemination. An evaluation with 18 participants demonstrated Lumina’s effectiveness and ease of use, with participants successfully creating designs spanning traditional themes to contemporary and science-fiction concepts.

Olfactory interfaces are pivotal in HCI, yet their development is hindered by limited application scenarios, stifling the discovery of new research opportunities. This challenge primarily stems from existing design tools focusing predominantly on odor display devices and the creation of standalone olfactory experiences, rather than enabling rapid adaptation to various contexts and tasks. Addressing this, we introduce Mul-O, a novel task-oriented development platform crafted to aid semi-professionals in navigating the diverse requirements of potential application scenarios and effectively prototyping ideas. Mul-O facilitates the swift association and integration of olfactory experiences into functional designs, system integrations, and concept validations. Comprising a web UI for task-oriented development, an API server for seamless third-party integration, and wireless olfactory display hardware, Mul-O significantly enhances the ideation and prototyping process in multisensory tasks. This was verified by a 15-day workshop attended by 30 participants. The workshop produced seven innovative projects, underscoring Mul-O’s efficacy in fostering olfactory innovation.

Digital technologies can conduct an important role in preserving intangible cultural heritage (ICH). Nonetheless, existing work tends to be limited to digital storage, presentation, dissemination, and education, with comparatively little concentrating on production and reproduction of the craft, the key to revitalizing ICH. In this paper, we explore digital making as an approach for both the inheritance and innovation of ICH handicrafts. Taking Hairy Monkey craftsmanship as an instance, we conducted a workshop with 15 groups of makers, teaching them the traditional Hairy Monkey craft and subsequently enabling them to create innovative works with digital technologies in their own time. As revealed by our interviews with these participants, ICH brings cultural inspiration to digital making, and digital making rejuvenates ICH through innovative art forms and its positive influence on participants. As demonstrated in this paper, digital technologies can be deeply integrated with ICH through making to revitalize ICH from the core through living transmission.

Ground surfaces are often carefully designed and engineered with various textures to fit the functionalities of human environments and thus could contain rich context information for smart wearables. Ground surface detection could power a wide array of applications including activity recognition, mobile health, and context-aware computing, and potentially provide an additional channel of information for many existing kinesiology approaches such as gait analysis. To facilitate the detection of ground surfaces, we present LaserShoes, a texture-sensing-enabled system using laser speckle imaging that can be retrofitted to shoes. Our system captures videos of speckle patterns induced on ground surfaces and uses pre-processing to identify ideal images with clear speckle patterns collected when users’ feet are in contact with ground surfaces. We demonstrated our technique with a ResNet-18 model and achieved real-time inference. We conducted an evaluation in different conditions and demonstrated results that verified the feasibility.

While there has been rapid growth in smart home research from a technical perspective– focusing on home automation, devices, software, and protocols– few review papers examine the human-centered perspective. A human-centered focus is crucial for achieving the goals of providing natural, convenient, comfortable, friendly, and safe user experiences in the smart home. To understand key innovations in human-centered smart home research, we analyzed keyword changes over time via 19,091 papers from 2000 to 2022, then selected 55 papers from high-impact venues in the last five years, and summarized them through a combination of qualitative and quantitative methods. Our analysis revealed five research trends with unique characteristics and interdependence. Drawing on this review, we elaborate on the future of smart home design research with respect to multidisciplinary development, stakeholder involvement, and the shift of design implications.

We introduce Thermotion, a novel method using thermofluidic composites to design and display thermochromic animation effects on object surfaces. With fluidic channels embedded under the object surfaces, the composites utilize thermofluidic flows to dynamically control the surface temperature as an actuator for thermochromic paints, which enables researchers and designers for the first time to create animations not only on two and three-dimensional surfaces but also on the surface made of a few flexible everyday materials. We report the design space with six animation primitives and two modification effects, and we demonstrate the design and fabrication workflow with a customized software platform for design and simulation. A range of applications is shown leveraging the objects’ dynamic displays both visually and thermally, including dynamic artifacts, teaching aids, and ambient displays. We envision an opportunity to extend thermofluidic composites to other heat-related practices for further dynamic and programmable interactions with temperature.

With the advancement of interactive technology in the information age, the problem of “visual blindness” in the field of display design has become increasingly prevalent in public scene interaction design. Therefore, it has become crucial to address how new forms of interaction and interaction scenes can be adopted to attract the public. In the context of robotics’ continuous development, robots are playing an increasingly prominent role as interactive subjects in public scene interaction experiences. In new fields such as digital entertainment, spatial experience, and new media art, various typical scenes of robot interaction have emerged. In this study, a window robot named “Yousu” was developed based on an ancient Chinese mythological character and deployed in the window of a bookstore in Beijing. A user experiment was conducted to investigate how to design a reasonable and effective character robot interaction in public scenes to enhance the interaction scenes’ attractiveness.

Interpersonal conflicts are often more difficult to mediate when communicating remotely. The lack of social cues and external mediation makes it difficult for positive conflict behaviors to occur. To this end, robots have been shown to have the potential as mediators. In this paper, we attempt to discuss how to design appropriate bodily contact interactions for the different roles of a robot mediator so as to facilitate the effectiveness of its mediation. We first conduct a pilot interview to probe the potential roles and design elements of robot contact in this study. Then, we explore the relationship between these roles and design elements through a 16-participant design workshop. Finally, we analyze these findings and propose design suggestions for future robot mediator design.

While the majority of pneumatic interfaces are powered and controlled by traditional electric pumps and valves, alternative sustainable energy-harnessing technology has been attracting attention. This paper presents a novel solution to this challenge with the development of the Sustainflatable system, a self-sustaining pneumatic system that can harvest renewable energy sources such as wind, water flow, moisture, and sunlight, convert the energy into compressed air, and store it for later use in a programmable and intelligent way. The system is completely electronic-free, incorporating customized energy harvesting pumps, storage units with variable volume-pressure characteristics, and tailored valves that operate autonomously. Additionally, the paper provides a design tool to guide the development of the system and includes several environmental applications to showcase its capabilities.

Nature has been a plentiful source of materials, replenishment, inspiration, and creativity. Nature collage, as a crafting technique, is a fun and educational activity for children to explore nature and engage their creativity. However, the raw material collection is limited to static things such as leaves, ignoring inspiration from nature sounds and dynamic elements such as babbling creeks. Using a mobile application, we hope to encourage children's creativity by renewing collage materials collection and careful observation in nature. To explore this, we conducted a formative study with children (N=20) and a design workshop with experts (N=6) to formulate NaCanva, an AI-assisted multi-modal collage creation system for children. Drawing on the interactivity between children and nature, NaCanva enables the multi-modal material collection, including images, sound, and videos, which differs our system from traditional collages. We validated this system with a between-subject user study (N=30), and the results suggested that NaCanva unleashes children's creativity in nature collage creation by enhancing children's multidimensional observation and engagement in nature.

Fluid fiber, with fluid flowing in a tube, is an attractive material to flexibly and dynamically display digital information. While it has recently attracted attention from the HCI field, there is currently little knowledge about this material, limited to controlling the position of the droplets to present representational information like letters and numbers. To develop a broader and deepened understanding of this material and its potential for display design, we conducted a study based on a design workshop where art and design practitioners engaged in creation practice with a toolkit we designed and developed. The toolkit includes hardware components for controlling bubbles and droplets and a GUI design tool for arranging the fluid layout. Our research reveals the structural and expressive affordance of such a fluid fiber for displaying information, highlighting the unique value of fluidity as an intuitive form to express life, emotion, movement and changes.

Integration of online and offline retail faces challenges in technology adoption, interaction style evolution and customer behavior shifts, while also being complicated by diverse perspectives from different stakeholders of consumers, retail staff, and retail business unit people. To explore how we can tackle the aforementioned challenges, this work applied the data-enabled design method and participatory data analysis to a case study, where 400 student consumers’ shopping behavior data was collected, cross-analyzed, and visualized in a campus chain store. We then invited 13 stakeholders to join a co-creation workshop for a further participatory data analysis. In the workshop, the different stakeholders came to a design consensuses which we summarized into a series of practical design recommendations for improving the current store. Finally, we generalized the case study process as a contextual-informed-aware model, which can contribute to professional design practice for the retail industry.

Accurate and effective directional feedback is crucial for an electronic traveling aid device that guides visually impaired people in walking through paths. This paper presents Tactile Compass, a hand-held device that provides continuous directional feedback with a rotatable needle pointing toward the planned direction. We conducted two lab studies to evaluate the effectiveness of the feedback solution. Results showed that, using Tactile Compass, participants could reach the target direction in place with a mean deviation of 3.03° and could smoothly navigate along paths of 60cm width, with a mean deviation from the centerline of 12.1cm. Subjective feedback showed that Tactile Compass was easy to learn and use.

Recently, researchers have become increasingly interested in finding new input methods for olfactory interfaces. Physical odor capture is a potential solution to this issue and, in order to make it more accessible for users, we designed a portable and fast smell capture prototype based on headspace technology and inspired by point-and-shoot cameras. We conducted a two-week diary study with 13 participants, in which they were allowed to freely use the prototype for odor capture activities. Through diary and interview feedback, we summarized factors such as the motivations of capturing, the collected odor types, and perceptual effects of odor replay. We found that the capture activities can positively affect user emotions, memory, or perception. User preferences on device parameters were also gathered to guide further design iterations. Physical odor capture has many potential applications in daily-life and other implications resulting from the study have been proposed for further research.

This study reviews published scientific literature on the use of swarm robots for education purposes in the last ten years. It focuses on user studies involving robotics swarm in order to identify the potential contributions of the incorporation of swarm robots as an educational tool and insight future research. We consider here the appearance of swarm robots, the curriculum of the experimental task and the interaction modalities between learners and robots. The outcomes of the literature review are discussed in terms of their existing challenges and opportunities for guiding researchers, educators, and practitioners.

This paper presents LinkBricks, a creative construction kit for intuitively creating and programming interactive robots towards young children. Integrating building blocks, a hierarchical programming framework and a tablet application, this kit is proposed to maintain the low floor and wide walls for children who lack knowledge in conventional programming. The blocks have LEGO-compatible interlock structures and are embedded with various wireless sensors and actuators to create different interactive robots. The programming application is easy-to-use and provides heuristics to involve children in the creative activities. A preliminary evaluation is conducted and indicates that LinkBricks increases young children's engagement with, comfort with, and interest in working with interactive robots. Meanwhile, it has the potential of helping them to learn the concepts of programming and robots.

Robot theatre has been gradually used in children's storytelling activities. The robotic character collaboratively exchange stories with children, react to their actions, and keep them engaged. However, the only robotic protagonist limits the richness of content and cannot fully support children's creativity. To explore a tool with multiple robotic agents to better enhance story creation activities, we designed a simulated multi-robot theatre with three similarly shaped robots. We invited 28 kids (6-12 years old) to watch the video and retell the story. We encode children's story recall and outline that robots' contextual behaviors with emotion expression are reasonably enough for children over six-years-old to understand their performance. We also found no noticeable difference in story understanding among participants. We discuss the insights for designing robots' contextual behaviors for story presentation and the considerations for implementing an accessible and feasible robot theatre creation platform.

We present IRelics, a tangible interaction platform for the popularization of field archeology. IRelics allows users to experience archaeological field work activities as a serious game by using a set of tangible tools. We developed an innovative LWIR (Long Wavelength Infrared Rays) sensing system, which implements the design of tangible tools that provide real manipulation experiences. By interacting with IRelics, a player may experience different archaeological activities such as excavation and cleaning. We conducted two observations to evaluate the usability and effectiveness at archeology popularizing. Findings suggest that the IRelics platform can enhance the engagement of the participants by providing a positive and interactive environment while teaching them unfamiliar knowledge.

This paper presents a design space, a fabrication system and applications of creating fluidic chambers and channels at millimeter scale for tangible actuated interfaces. The ability to design and fabricate millifluidic chambers allows one to create high frequency actuation, sequential control of flows and high resolution design on thin film materials. We propose a four dimensional design space of creating these fluidic chambers, a novel heat sealing system that enables easy and precise millifluidics fabrication, and application demonstrations of the fabricated materials for haptics, ambient devices and robotics. As shape-change materials are increasingly integrated in designing novel interfaces, milliMorph enriches the library of fluid-driven shape-change materials, and demonstrates new design opportunities that is unique at millimeter scale for product and interaction design.

Background This paper introduces a versatile edutainment platform based on a swarm robotics system that can support multiple interaction methods. We aim to create a re-usable open-ended tangible tool for a variety of educational and entertainment scenarios by utilizing the unique advantages of swarm robots such as flexible mobility, mutual perception, and free control of robot number. Methods Compared with the tangible user interface, the swarm user interface (SUI) possesses more flexible locomotion and more controllable widgets. However, research on SUI is still limited to system construction, and the upper interaction modes along with vivid applications have not been sufficiently studied. Results This study illustrates possible interaction modes for swarm robotics and feasible application scenarios based on these fundamental interaction modes. We also discuss the implementation of swarm robotics (including software and hardware), then design several simple experiments to verify the location accuracy of the swarm robotics system.

This paper presents the design, control and expressive capabilities of RoboQuin-a novel humanoid social robot. Although social robots have become more human-friendly, their capacity for naturalistic human behavior remains relatively limited. We implement an interdisciplinary design method to create a realistic and natural humanoid robot, with accurate body proportions and smooth motion coordination, and the ability to perform nonverbal communication. With this design, we aim to explore the impact of robot body design and dynamic robot postures on human perception towards robots.

The use of armatures is a convenient way of deforming and animating 3D digital models. However, interact with an armature is usually time-consuming, and often requires professional skills. Tangible interfaces, such as building blocks, while having improved the accessibility of digital construction, are still lacking in flexibility and present difficulties in dealing with curved armatures. This paper introduces TwistBlocks, a pluggable and twistable modular TUI that improves the accessibility of 3D modeling and animating by physical armature interaction. TwistBlocks is capable of creating complex armatures with dense branches, and supports a high DOF (Degree of Freedom) in physical manipulation. In addition, a set of software tools are provided for novice users to easily create, rig, and animate models. The global-posture sensing network sensing scheme can also measure the rotation and movement of the physical armature, and enables interaction between multiple models.

Room-temperature liquid metal GaIn25 (Eutectic Gallium- Indium alloy, 75% gallium and 25% indium) has distinctive properties of reversible deformation and controllable locomotion under an external electric field stimulus. Liquid metal's newly discovered properties imply great possibilities in developing new technique for interface design. In this paper, we present LIME, LIquid MEtal interfaces for non-rigid interaction. We first discuss the interaction potential of LIME interfaces. Then we introduce the development of LIME cells and the design of some LIME widgets.