We print wax on the paper and turn the composite into a sequentially-controllable, moisture-triggered, rapidly-fabricated, and low-cost shape-changing interface. This technique relies on a sequential control method that harnesses two critical variables: gray levels and water amount. By integrating these variables within a bilayer structure, composed of a paper substrate and wax layer, we produce a diverse wax pattern using a solid inkjet printer. These patterns empower wax paper actuators with rapid control over sequential deformations, harnessing various bending degrees and response times, which helps to facilitate the potential of swift personal actuator customization. Our exploration encompasses the material mechanism, the sequential control method, fabrication procedures, primitive structures, and evaluations. Additionally, we introduce a user-friendly software tool for design and simulation. Lastly, we demonstrate our approach through applications across four domains: agricultural seeding, interactive toys and art, home decoration, and electrical control.

Smart shape-changing materials can be adapted to different usages, which have been leveraged for dynamic affordances and on-demand haptic feedback in HCI. However, the applicability of these materials is often bottlenecked by their complex fabrication and the challenge of programming localized and individually addressable responses. In this work, we propose a toolkit for designing and fabricating programmable morphing objects using off-the-shelf epoxies. Our method involves varying the crosslinker to epoxy resin ratio to control morphing temperatures from 40 ℃ to 90 ℃, either across different regions of a shape memory device or across devices. Functional components (e.g., conductive fabric, magnetic particles) are also incorporated with the epoxy for sensing and active reconfiguration. A toolbox of fabrication methods and a primitive design library are introduced to support design ideation and programmable morphing. Finally, we demonstrate application examples, including morphing toys, a shape-changing input device, and an active window shutter.