This paper presents Gambit, a custom, mid-cost 6-DoF robot manipulator system that can play physical board games against human opponents in non-idealized environments. Historically, unconstrained robotic manipulation in board games has often proven to be more challenging than the underlying game reasoning, making it an ideal testbed for small-scale manipulation. The Gambit system includes a low-cost Kinect-style visual sensor, a custom manipulator, and state-of-the-art learning algorithms for automatic detection and recognition of the board and objects on it. As a use-case, we describe playing chess quickly and accurately with arbitrary, uninstrumented boards and pieces, demonstrating that Gambit's engineering and design represent a new state-of-the-art in fast, robust tabletop manipulation.

The Sound of Touch is a new tool for real-time capture and sensitive physical stimulation of sound samples using digital convolution. Our hand-held wand can be used to (1) record sound, then (2) play back the recording by brushing, scraping, striking or otherwise physically manipulating the wand against physical objects. During playback, the recorded sound is continuously filtered by the acoustic interaction of the wand and the material being touched. The Sound of Touch enables a physical and continuous sculpting of sound that is typical of acoustic musical instruments and interactions with natural objects and materials, but not available in GUI-based tools or most electronic music instruments. This paper reports the design of the system and observations of thousands of users interacting with it in an exhibition format. Preliminary user feedback suggests future applications to foley, professional sound design, and musical performance.