Prototyping large, electronically integrated structures is challenging and often results in unwieldy wiring, weak mechanical properties, expensive iterations, or limited reusability. While many electronics prototyping kits exist for small-scale objects, relatively few methods exist to freely iterate large and sturdy structures with integrated electronics. To address this gap, we present the Voxel Invention Kit (VIK), which uses reconfigurable blocks that assemble into high-stiffness, lightweight structures with integrated electronics. We do this by creating cubic blocks composed of PCBs that carry electrical routing and components and can be (re)configured with simple tools into a variety of structures. To ensure structural stability without expertise, we created a tool to configure structures and simulate applied loads, which we validated with mechanical testing data. Using VIK, we produced devices reconfigured from a shared set of voxels: multiple iterations of a customizable AV lounge seat, a dance floor game, and a force-sensing bridge.

UIST ’25, Busan, Republic of Korea

We present FibeRobo, a thermally-actuated liquid crystal elastomer (LCE) fiber that can be embedded or structured into textiles and enable silent and responsive interactions with shape-changing, fiber-based interfaces. Three definitive properties distinguish FibeRobo from other actuating threads explored in HCI. First, they exhibit rapid thermal self-reversing actuation with large displacements (∼40%) without twisting. Second, we present a reproducible UV fiber drawing setup that produces hundreds of meters of fiber with a sub-millimeter diameter. Third, FibeRobo is fully compatible with existing textile manufacturing machinery such as weaving looms, embroidery, and industrial knitting machines. This paper contributes to developing temperature-responsive LCE fibers, a facile and scalable fabrication pipeline with optional heating element integration for digital control, mechanical characterization, and the establishment of higher hierarchical textile structures and design space. Finally, we introduce a set of demonstrations that illustrate the design space FibeRobo enables.

(Dis)Appearables is an approach for actuated Tangible User Interfaces (TUIs) to appear and disappear. This technique is supported by Stages: physical platforms inspired by theatrical stages. Self-propelled TUI’s autonomously move between front and back stage allowing them to dynamically appear and disappear from users’ attention. This platform opens up a novel interaction design space for expressive displays with dynamic physical affordances.

Fiber – a primitive yet ubiquitous form of material – intertwines with our bodies and surroundings, from constructing our fibrous muscles that enable our movement, to forming fabrics that intimately interface with our skin. In soft robotics and advanced materials science research, actuated fibers are gaining interest as thin, flexible materials that can morph in response to external stimuli. In this paper, we build on fluidic artificial muscles research to develop OmniFiber - a soft, line-based material system for designing movement-based interactions. We devised actuated thin (øouter < 1.8 mm) fluidic fibers with integrated soft sensors that exhibit perceivably strong forces, up to 19 N at 0.5 MPa, and a high speed of linear actuation peaking at 150mm/s. These allow to flexibly weave them into everyday tangible interactions; including on-body haptic devices for embodied learning, synchronized tangible interfaces for remote communication, and robotic crafting for expressivity. The design of such interactive capabilities is supported by OmniFiber’s design space, accessible fabrication pipeline, and a fluidic I/O control system to bring omni-functional fluidic fibers to the HCI toolbox of interactive morphing materials.

In this paper, we present a method to integrate sensing capabilities into 3D printable metamaterial structures comprised of cells, which enables the creation of monolithic input devices for HCI. We accomplish this by converting select opposing cell walls within the metamaterial device into electrodes, thereby creating capacitive sensors. When a user interacts with the object and applies a force, the distance and overlapping area between opposing cell walls change, resulting in a measurable capacitance variation.

We present DefeXtiles, a rapid and low-cost technique to produce tulle-like fabrics on unmodified fused deposition modeling (FDM) printers. The under-extrusion of filament is a common cause of print failure, resulting in objects with periodic gap defects. In this paper, we demonstrate that these defects can be finely controlled to quickly print thinner, more flexible textiles than previous approaches allow. Our approach allows hierarchical control from micrometer structure to decameter form and is compatible with all common 3D printing materials.

Despite thin-line actuators becoming widely adopted in different Human-Computer Interaction (HCI) contexts, including integration into fabrics, paper art, hinges, soft robotics, and human hair, accessible line-based actuators are very limited beyond shape memory alloy (SMA) wire and motor-driven passive tendons. In this paper, we introduce a novel, yet simple and accessible, line-based actuator. ModiFiber is a twisted-then-coiled nylon thread actuator with a silicone coating. This composite thread actuator exhibits unique two-way reversible shrinking or twisting behaviors triggered by heat or electrical current (i.e., Joule heating). ModiFiber is soft, flexible, safe to operate and easily woven or sewn, hence it has a great potential as an embedded line-based actuator for HCI purposes. In this paper, we explain the material mechanisms and manufacturing approaches, followed by some performance tests and application demonstrations.