Abstract

We introduce Swarm Fabrication, a novel concept of creating on- demand, scalable, and reconfigurable fabrication machines made of swarm robots. We present ways to construct an element of fabrica- tion machines, such as motors, elevator, table, feeder, and extruder, by leveraging toio robots and 3D printed attachments. By combin- ing these elements, we demonstrate constructing a X-Y-Z plotter with multiple toio robots, which can be used for drawing plotters and 3D printers. We also show the possibility to extend our idea to more general-purpose fabrication machines, which include 3D printers, CNC machining, foam cutters, line drawing devices, pick and place machines, 3D scanning, etc. Through this, we draw a future vision, where the swarm robots can construct a scalable and reconfigurable fabrication machines on-demand, which can be deployed anywhere the user wishes. We believe this fabrication technique will become a means of interactive and highly flexible fabrication in the future.

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Abstract

This demo introduces a framework that uses programmable electromagnets as a method to rapidly prototype interactive objects. Our approach allows users to to quickly and inexpensively embed actuation mechanisms into otherwise static prototypes in order to make them dynamic and interactive. Underpinning the technique is the insight of using electromagnets to interchangeably create attractive and repulsive forces between adjacent parts, and programmatically setting their polarities in a way that allows objects to translate rotationally and linearly, respond haptically, assemble, and locomote.

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Abstract

HapticBots introduces a novel encountered-type haptic approach for Virtual Reality (VR) based on multiple tabletop-size shape-changing robots. These robots move on a tabletop and change their height and orientation to haptically render various surfaces and objects on-demand. Compared to previous encountered-type haptic ap- proaches like shape displays or robotic arms, our proposed approach has an advantage in deployability, scalability, and generalizability---these robots can be easily deployed due to their compact form factor. They can support multiple concurrent touch points in a large area thanks to the distributed nature of the robots. We propose and evaluate a novel set of interactions enabled by these robots which include: 1) rendering haptics for VR objects by providing just-in- time touch-points on the user’s hand, 2) simulating continuous surfaces with the concurrent height and position change, and 3) enabling the user to pick up and move VR objects through graspable proxy objects. Finally, we demonstrate HapticBots with various ap- plications, including remote collaboration, education and training, design and 3D modeling, and gaming and entertainment.

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Abstract

We present I/O Bits, a prototype personal informatics system that explores the potential for user-driven and situated self-tracking. With simple tactile inputs and small e-paper visualizations, I/O Bits are dedicated physical devices that allow individuals to track and visualize different kinds of personal activities in-situ. This is in contrast to most self-tracking systems, which automate data collection, centralize information displays, or integrate into multi-purpose devices like smartwatches or mobile phones. We report findings from an e-paper visualization workshop and a prototype deployment where participants constructed their own I/O Bits and used them to track a range of personal data. Based on these experiences, we contribute insights and opportunities for situated and user-driven personal informatics.

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Abstract

Worlds-in-Miniature (WiMs) are interactive worlds within a world and combine the advantages of an input space, a cartographicmap, and an overview+detail interface. They have been used across the extended virtuality spectrum for a variety of applications.Building on an analysis of examples of WiMs from the research literature we contribute a design space for WiMs based on sevendesign dimensions. Further, we expand upon existing definitions of WiMs to provide a definition that applies across the extendedreality spectrum. We identify the design dimensions of size-scope-scale, abstraction, geometry, reference frame, links, multiples, andvirtuality. Using our framework we describe existing Worlds-in-Miniature from the research literature and reveal unexplored researchareas. Finally, we generate new examples of WiMs using our framework to fill some of these gaps. With our findings, we identifyopportunities that can guide future research into WiMs.

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Abstract

Immersive Analytics is a quickly evolving field that unites several areas such as visualisation, immersive environments, and human-computer interaction to support human data analysis with emerging technologies. This research has thrived over the past years with multiple workshops, seminars, and a growing body of publications, spanning several conferences. Given the rapid advancement of interaction technologies and novel application domains, this paper aims toward a broader research agenda to enable widespread adoption. We present 17 key research challenges developed over multiple sessions by a diverse group of 24 international experts, initiated from a virtual scientific workshop at ACM CHI 2020. These challenges aim to coordinate future work by providing a systematic roadmap of current directions and impending hurdles to facilitate productive and effective applications for Immersive Analytics.

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Abstract

We present an autobiographical design journey exploring the experience of returning to long-term single player games. Continuing progress from a previously saved game, particularly when substantial time has passed, is an understudied area in games research. To begin our exploration in this domain, we investigated what the return experience is like first-hand. By returning to four long-term single player games played extensively in the past, we revealed a phenomenon we call The Pivot Point, a ‘eureka’ moment in return gameplay. The pivot point anchors our design explorations, where we created prototypes to leverage the pivot point in reconnecting with the experience. These return experiences and subsequent prototyping iterations inform our understanding of how to design better returns to gameplay, which can benefit both producers and consumers of long-term single player games.

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Abstract

We introduce three novel data visualizations, called perspective charts, based on the concept of size constancy in linear perspective projection. Bar charts are a popular and commonly used tool for the interpretation of datasets, however, representing datasets with multi-scale variation is challenging in a bar chart due to limitations in viewing space. Each of our designs focuses on the static representation of datasets with large ranges with respect to important variations in the data. Through a user study, we measure the effectiveness of our designs for representing these datasets in comparison to traditional methods, such as a standard bar chart or a broken-axis bar chart, and state-of-the-art methods, such as a scale-stack bar chart. The evaluation reveals that our designs allow pieces of data to be visually compared at a level of accuracy similar to traditional visualizations. Our designs demonstrate advantages when compared to state-of-the-art visualizations designed to represent datasets with large outliers.

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Abstract

We present the SmartCampus visualization tool, representing spatiotemporal data of over 200 student pathways and restpoints on a university campus. Based on our experiences with SmartCampus, we also propose a task-based framework that de-scribes how practicing urban designers (specifically, architects) can use human movement data visualizations in their work. Although extensive amounts of location data are produced daily by smartphones, existing geospatial tools are not customized to specifically support high-level urban design tasks. To help identify opportunities in urban design for visualizing human movement data from devices such as smartphones, we used our SmartCampus prototype to facilitate a series of 3 participatory design sessions (3 participants), a targeted online survey (14 participants), and semi-structured interviews (6 participants) with architectural experts. Our findings showcase the need for location analysis tools tailored to concrete urban design practices, and also highlight opportunities for Smart City researchers interested in developing domain specific, visualization tools.

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Abstract

We present RealitySketch, an augmented reality interface for sketching interactive graphics and visualizations. In recent years, an increasing number of AR sketching tools enable users to draw and embed sketches in the real world. However, with the current tools, sketched contents are inherently static, floating in mid air without responding to the real world. This paper introduces a new way to embed dynamic and responsive graphics in the real world. In RealitySketch, the user draws graphical elements on a mobile AR screen and binds them with physical objects in real-time and improvisational ways, so that the sketched elements dynamically move with the corresponding physical motion. The user can also quickly visualize and analyze real-world phenomena through responsive graph plots or interactive visualizations. This paper contributes to a set of interaction techniques that enable capturing, parameterizing, and visualizing real-world motion without pre-defined programs and configurations. Finally, we demonstrate our tool with several application scenarios, including physics education, sports training, and in-situ tangible interfaces.

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Abstract

We focus on the problem of simulating the haptic infrastructure of a virtual environment (i.e. walls, doors). Our approach relies on multiple ZoomWalls---autonomous robotic encounter-type haptic wall-shaped props---that coordinate to provide haptic feedback for room-scale virtual reality. Based on a user's movement through the physical space, ZoomWall props are coordinated through a predict-and-dispatch architecture to provide just-in-time haptic feedback for objects the user is about to touch. To refine our system, we conducted simulation studies of different prediction algorithms, which helped us to refine our algorithmic approach to realize the physical ZoomWall prototype. Finally, we evaluated our system through a user experience study, which showed that participants found that ZoomWalls increased their sense of presence in the VR environment. ZoomWalls represents an instance of autonomous mobile reusable props, which we view as an important design direction for haptics in VR.

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Abstract

We present PufferBot, an aerial robot with an expandable structure that may expand to protect a drone’s propellers when the robot is close to obstacles or collocated humans. PufferBot is made of a custom 3D printed expandable scissor structure, which utilizes a one degree of freedom actuator with rack and pinion mechanism. We propose four designs for the expandable structure, each with unique charac- terizations which may be useful in different situations. Finally, we present three motivating scenarios in which PufferBot might be useful beyond existing static propeller guard structures.

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Abstract

We present TRAVIS II, an augmented acoustic violin with touch sensors integrated into its 3D printed fingerboard that track left-hand finger gestures in real time. The fingerboard has four strips of conductive PLA filament which produce an electric signal when fingers press down on each string. While these sensors are physically robust, they are mechanically assembled and thus easy to replace if damaged. The performer can also trigger presets via four FSRs attached to the body of the violin. The instrument is completely wireless, giving the performer the freedom to move throughout the performance space. While the sensing fingerboard is installed in place of the traditional fingerboard, all other electronics can be removed from the augmented instrument, maintaining the aesthetics of a traditional violin. Our design allows violinists to naturally create music for interactive performance and improvisation without requiring new instrumental techniques. In this paper, we describe the design of the instrument, experiments leading to the sensing fingerboard, and performative applications of the instrument.

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Talk

Abstract

Natural disasters cause long-lasting mental health problems such as PTSD in children. Following the 2011 Earthquake and Tsunami in Japan, we witnessed a shift of toy block play behavior in young children who suffered from stress after the disaster. The behavior reflected their emotional responses to the traumatic event. In this paper, we explore the feasibility of using data captured from block-play to assess children's stress after a major natural disaster. We prototyped sets of sensor-embedded toy blocks, AssessBlocks, that automate quantitative play data acquisition. During a three-year period, the blocks were dispatched to fifty-two post-disaster children. Within a free play session, we captured block features, a child's playing behavior, and stress evaluated by several methods. The result from our analysis reveal correlations between block play features and stress measurements and show initial promise of using the effectiveness of using AssessBlocks to assess children's stress after a disaster. We provide detailed insights into the potential as well as the challenges of our approach and unique conditions. From these insights we summarize guidelines for future research in automated play assessment systems that support children's mental health.

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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.

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Abstract

We present a mixed-methods study of viewers on their practices and motivations around watching mukbang — video streams of people eating large quantities of food. Viewers' experiences provide insight on future technologies for multisensorial video streams and technology-supported commensality (eating with others). We surveyed 104 viewers and interviewed 15 of them about their attitudes and reflections on their mukbang viewing habits, their physiological aspects of watching someone eat, and their perceived social relationship with mukbangers. Based on our findings, we propose design implications for remote commensality, and for synchronized multisensorial video streaming content.

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Talk

Abstract

We describe a design space of view manipulation interactions for small data-driven contextual visualizations (word-scale visualizations). These interaction techniques support an active reading experience and engage readers through exploration of embedded visualizations whose placement and content connect them to specific terms in a document. A reader could, for example, use our proposed interaction techniques to explore word-scale visualizations of stock market trends for companies listed in a market overview article. When readers wish to engage more deeply with the data, they can collect, arrange, compare, and navigate the document using the embedded word-scale visualizations, permitting more visualization-centric analyses. We support our design space with a concrete implementation, illustrate it with examples from three application domains, and report results from two experiments. The experiments show how view manipulation interactions helped readers examine embedded visualizations more quickly and with less scrolling and yielded qualitative feedback on usability and future opportunities.

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Abstract

Autonomous vehicles (AVs) will redefine interactions between road users. Presently, cyclists and drivers communicate through implicit cues (vehicle motion) and explicit but imprecise signals (hand gestures, horns). Future AVs could consistently communicate awareness and intent and other feedback to cyclists based on their sensor data. We present an exploration of AV-cyclist interaction, starting with preliminary design studies which informed the implementation of an immersive VR AV-cyclist simulator, and the design and evaluation of a number of AV-cyclist interfaces. Our findings suggest that AV-cyclist interfaces can improve rider confidence in lane merging scenarios. We contribute an AV-cyclist immersive simulator, insights on trade-offs of various aspects of AV-cyclist interaction design including modalities, location, and complexity, and positive results suggesting improved rider confidence due to AV-cyclist interaction. While we are encouraged by the potential positive impact AV-cyclist interfaces can have on cyclist culture, we also emphasize the risks over-reliance can pose to cyclists.

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Talk

Abstract

Large-scale shape-changing interfaces have great potential, but creating such systems requires substantial time, cost, space, and efforts, which hinders the research community to explore interactions beyond the scale of human hands. We introduce modular inflatable actuators as building blocks for prototyping room-scale shape-changing interfaces. Each actuator can change its height from 15cm to 150cm, actuated and controlled by air pressure. Each unit is low-cost (8 USD), lightweight (10 kg), compact (15 cm), and robust, making it well-suited for prototyping room-scale shape transformations. Moreover, our modular and reconfigurable design allows researchers and designers to quickly construct different geometries and to explore various applications. This paper contributes to the design and implementation of highly extendable inflatable actuators, and demonstrates a range of scenarios that can leverage this modular building block.

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Abstract

In this paper, I introduce collective shape-changing interfaces, a class of shape-changing interfaces that consist of a set of discrete collective elements. Through massively parallel transformation, locomotion, and connection of individual building blocks, the overall physical structure can be dynamically changed. Given this parallel change of individual elements, I propose three approaches for user interaction: dynamic, improvised, and actuated collective shape transformation. I exemplify each approach through my own work and possible future work.

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Abstract

Pen-based input is often treated as auxiliary to mobile devices. We posit that cross-device interactions can inspire and extend the design space of pen-based interactions into new, expressive directions. We realize this through WatchPen, a smartwatch mounted on a passive, capacitive stylus that: (1) senses the usage context and leverages it for expression (e.g., changing colour), (2) contains tools and parameters within the display, and (3) acts as an on-demand output. As a result, it provides users with a dynamic relationship between inputs and outputs, awareness of current tool selection and parameters, and increased expressive match (e.g., added ability to mimic physical tools, showing clipboard contents). We discuss and reflect upon a series of interaction techniques that demonstrate WatchPen within a drawing application. We highlight the expressive power of leveraging multiple sensing and output capabilities across both the watch-augmented stylus and the tablet surface.

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Abstract

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.

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Abstract

Complex data visualization design projects often entail collaboration between people with different visualization-related skills. For example, many teams include both designers who create new visualization designs and developers who implement the resulting visualization software. We identify gaps between data characterization tools, visualization design tools, and development platforms that pose challenges for designer-developer teams working to create new data visualizations. While it is common for commercial interaction design tools to support collaboration between designers and developers, creating data visualizations poses several unique challenges that are not supported by current tools. In particular, visualization designers must characterize and build an understanding of the underlying data, then specify layouts, data encodings, and other data-driven parameters that will be robust across many different data values. In larger teams, designers must also clearly communicate these mappings and their dependencies to developers, clients, and other collaborators. We report observations and reflections from five large multidisciplinary visualization design projects and highlight six data-specific visualization challenges for design specification and handoff. These challenges include adapting to changing data, anticipating edge cases in data, understanding technical challenges, articulating data-dependent interactions, communicating data mappings, and preserving the integrity of data mappings across iterations. Based on these observations, we identify opportunities for future tools for prototyping, testing, and communicating data-driven designs, which might contribute to more successful and collaborative data visualization design.

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Talk

Abstract

We present Mutation: performing arts based approach that can help decrease the cognitive load associated with cyborg transitioning. Cyborgs are human-machine hybrids with organic and mechatronic body parts that can be implanted or worn. The transition into and out of experiencing additional body parts is not fully understood. Our goal is to draw from performing arts techniques in order to help decrease the cognitive load associated with becoming and unbecoming a cyborg. Actors constantly shift between states, whether from one character to another, or from pre- to post- performance. We contribute a straightforward adaptation of classic performing art practices to cyborg transitioning, and a study where actors used these protocols in order to enter a cyborg state, perform as a cyborg, and then exit the cyborg state. Our work on Mutation suggests that classic performing art practices can be useful in cyborg transitioning, as well as in other technology augmented experiences.

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Abstract

We report on findings from seven design workshops that used ideation and sketching activities to prototype new situated visualizations - representations of data that are displayed in proximity to the physical referents (such as people, objects, and locations) to which the data is related. Designing situated visualizations requires a fine-grained understanding of the context in which the visualizations are placed, as well as an exploration of different options for placement and form factors, which existing methods for visualization design do not account for. Focusing on small displays as a target platform, we reflect on our experiences of using a diverse range of sketching activities, materials, and prompts. Based on these observations, we identify challenges and opportunities for sketching and ideating situated visualizations. We also outline the space of design activities for situated visualization and highlight promising methods for both designers and researchers.

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Abstract

Astral is a prototyping tool for authoring mobile and smart object interactive behaviours. It mirrors selected display contents of desktop applications onto mobile devices (smartphones and smartwatches), and streams/remaps mobile sensor data to desktop input events (mouse or keyboard) to manipulate selected desktop contents. This allows designers to use familiar desktop applications (e.g. PowerPoint, AfterEffects) to prototype rich interactive behaviours. Astral combines and integrates display mirroring, sensor streaming and input remapping, where designers can exploit familiar desktop applications to prototype, explore and fine-tune dynamic interactive behaviours. With Astral, designers can visually author rules to test real-time behaviours while interactions take place, as well as after the interaction has occurred. We demonstrate Astral's applicability, workflow and expressiveness within the interaction design process through both new examples and replication of prior approaches that illustrate how various familiar desktop applications are leveraged and repurposed.

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Abstract

AV-pedestrian interaction will impact pedestrian safety, etiquette, and overall acceptance of AV technology. Evaluating AV-pedestrian interaction is challenging given limited availability of AVs and safety concerns. These challenges are compounded by "mixed traffic" conditions: studying AV-pedestrian interaction will be difficult in traffic consisting of vehicles varying in autonomy level. We propose immersive pedestrian simulators as design tools to study AV-pedestrian interaction, allowing rapid prototyping and evaluation of future AV-pedestrian interfaces. We present OnFoot: a VR-based simulator that immerses participants in mixed traffic conditions and allows examination of their behavior while controlling vehicles' autonomy-level, traffic and street characteristics, behavior of other virtual pedestrians, and integration of novel AV-pedestrian interfaces. We validated OnFoot against prior simulators and Wizard-of-Oz studies, and conducted a user study, manipulating vehicles' autonomy level, interfaces, and pedestrian group behavior. Our findings highlight the potential to use VR simulators as powerful tools for AV-pedestrian interaction design in mixed traffic.

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Abstract

We introduce MorphIO, entirely soft sensing and actuation modules for programming by demonstration of soft robots and shape-changing interfaces.MorphIO's hardware consists of a soft pneumatic actuator containing a conductive sponge sensor.This allows both input and output of three-dimensional deformation of a soft material.Leveraging this capability, MorphIO enables a user to record and later playback physical motion of programmable shape-changing materials.In addition, the modular design of MorphIO's unit allows the user to construct various shapes and topologies through magnetic connection.We demonstrate several application scenarios, including tangible character animation, locomotion experiment of a soft robot, and prototyping tools for animated soft objects.Our user study with six participants confirms the benefits of MorphIO, as compared to the existing programming paradigm.

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Abstract

Drawing upon multiple disciplines, avant-garde fashion-tech teams push the boundaries between fashion and technology. Many are well trained in envisioning aesthetic qualities of garments, but few have formal training on designing and fabricating technologies themselves. We introduce Mannequette, a prototyping tool for fashion-tech garments that enables teams to experiment with interactive technologies at early stages of their design processes. Mannequette provides an abstraction of light-based outputs and sensor-based inputs for garments through a DJ mixer-like interface that allows for dynamic changes and recording/playback of visual effects. The base of Mannequette can also be incorporated into the final garment, where it is then connected to the final components. We conducted an 8-week deployment study with eight design teams who created new garments for a runway show. Our results revealed Mannequette allowed teams to repeatedly consider new design and technical options early in their creative processes, and to communicate more effectively across disciplinary backgrounds.

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Abstract

We investigate how people discover the functionality of an interactive visualization that was designed for the general public. While interactive visualizations are increasingly available for public use, we still know little about how the general public discovers what they can do with these visualizations and what interactions are available. Developing a better understanding of this discovery process can help inform the design of visualizations for the general public, which in turn can help make data more accessible. To unpack this problem, we conducted a lab study in which participants were free to use their own methods to discover the functionality of a connected set of interactive visualizations of public energy data. We collected eye movement data and interaction logs as well as video and audio recordings. By analyzing this combined data, we extract exploration strategies that the participants employed to discover the functionality in these interactive visualizations. These exploration strategies illuminate possible design directions for improving the discoverability of a visualization's functionality.

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Abstract

We introduce three lightweight interactive camera control techniques for 3D terrain maps on touch devices based on a look-from metaphor (Discrete Look-From-At, Continuous Look-From-Forwards, and Continuous Look-From-Towards). These techniques complement traditional touch screen pan, zoom, rotate, and pitch controls allowing viewers to quickly transition between top-down, oblique, and ground-level views. We present the results of a study in which we asked participants to perform elevation comparison and line-of-sight determination tasks using each technique. Our results highlight how look-from techniques can be integrated on top of current direct manipulation navigation approaches by combining several direct manipulation operations into a single look-from operation. Additionally, they show how look-from techniques help viewers complete a variety of common and challenging map-based tasks.

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Abstract

While improvised theatre (improv) is often performed on a bare stage, improvisers sometimes incorporate physical props to inspire new directions for a scene and to enrich their performance. A tech booth can improvise light and sound technical elements, but coordinating with improvisers' actions on-stage is challenging. Our goal is to inform the design of an augmented prop that lets improvisers tangibly control light and sound technical elements while performing. We interviewed five professional improvisers about their use of physical props in improv, and their expectations of a possible augmented prop that controls technical theatre elements. We propose a set of guidelines for the design of an augmented prop that fits with the existing world of unpredictable improvised performance.

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Abstract

Wind simulations are typically one-off implementations for specific applications. We introduce WindyWall, a platform for creative design and exploration of wind simulations. WindyWall is a three-panel 90-fan array that encapsulates users with 270? of wind coverage. We describe the design and implementation of the array panels, discussing how the panels can be re-arranged, where various wind simulations can be realized as simple effects. To understand how people perceive "wind" generated from WindyWall, we conducted a pilot study of wind magnitude perception using different wind activation patterns from WindyWall. Our findings suggest that: horizontal wind activations are perceived more readily than vertical ones, and that people's perceptions of wind are highly variable-most individuals will rate airflow differently in subsequent exposures. Based on our findings, we discuss the importance of developing a method for characterizing wind simulations, and provide design directions for others using fan arrays to simulate wind.

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Abstract

Providing data visualization authoring tools for the general public remains an ongoing challenge. Inspired by block-printing, we explore how visualization stamps as a physical visualization authoring tool could leverage both visual freedom and ease of repetition. We conducted a workshop with two groups---visualization experts and non-experts---where participants authored visualizations on paper using hand-carved stamps made from potatoes and sponges. The low-fidelity medium freed participants to test new stamp patterns and accept mistakes. From the created visualizations, we observed several unique traits and uses of block-printing tools for visualization authoring, including: modularity of patterns, annotation guides, creation of multiple patterns from one stamp, and various techniques to apply data onto paper. We discuss the issues around expressivity and effectiveness of block-printed stamps in visualization authoring, and identify implications for the design and assembly of primitives in potential visualization stamp kits, as well as applications for future use in non-digital environments.

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Abstract

Freehand gesture interaction has long been proposed as a `natural' input method for Augmented Reality (AR) applications, yet has been little explored for intensive applications like multiscale navigation. In multiscale navigation, such as digital map navigation, pan and zoom are the predominant interactions. A position-based input mapping (e.g. grabbing metaphor) is intuitive for such interactions, but is prone to arm fatigue. This work focuses on improving digital map navigation in AR with mid-air hand gestures, using a horizontal intangible map display. First, we conducted a user study to explore the effects of handedness (unimanual and bimanual) and input mapping (position-based and rate-based). From these findings we designed DiveZoom and TerraceZoom, two novel hybrid techniques that smoothly transition between position- and rate-based mappings. A second user study evaluated these designs. Our results indicate that the introduced input-mapping transitions can reduce perceived arm fatigue with limited impact on performance.

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Abstract

This paper introduces Dynamic 3D Printing, a fast and reconstructable shape formation system. Dynamic 3D Printing can assemble an arbitrary three-dimensional shape from a large number of small physical elements. Also, it can disassemble the shape back to elements and reconstruct a new shape. Dynamic 3D Printing combines the capabilities of 3D printers and shape displays: Like conventional 3D printing, it can generate arbitrary and graspable three-dimensional shapes, while allowing shapes to be rapidly formed and reformed as in a shape display. To demonstrate the idea, we describe the design and implementation of Dynablock, a working prototype of a dynamic 3D printer. Dynablock can form a three-dimensional shape in seconds by assembling 3,000 9 mm blocks, leveraging a 24 x 16 pin-based shape display as a parallel assembler. Dynamic 3D printing is a step toward achieving our long-term vision in which 3D printing becomes an interactive medium, rather than the means for fabrication that it is today. In this paper, we explore possibilities for this vision by illustrating application scenarios that are difficult to achieve with conventional 3D printing or shape display systems.

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Talk

Abstract

In improvisational theatre (improv), actors perform unscripted scenes together, collectively creating a narrative. Audience suggestions introduce randomness and build audience engagement, but can be challenging to mediate at scale. We present Robot Improv Puppet Theatre (RIPT), which includes a performance robot (Pokey) who performs gestures and dialogue in short-form improv scenes based on audience input from a mobile interface. We evaluated RIPT in several initial informal performances, and in a rehearsal with seven professional improvisers. The improvisers noted how audience prompts can have a big impact on the scene - highlighting the delicate balance between ambiguity and constraints in improv. The open structure of RIPT performances allows for multiple interpretations of how to perform with Pokey, including one-on-one conversations or multi-performer scenes. While Pokey lacks key qualities of a good improviser, improvisers found his serendipitous dialogue and gestures particularly rewarding.

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Abstract

Because gesture design for augmented reality (AR) remains idiosyncratic, people cannot necessarily use gestures learned in one AR application in another. To design discoverable gestures, we need to understand what gestures people expect to use. We explore how the scale of AR affects the gestures people expect to use to interact with 3D holograms. Using an elicitation study, we asked participants to generate gestures in response to holographic task referents, where we varied the scale of holograms from desktop-scale to room-scale objects. We found that the scale of objects and scenes in the AR experience moderates the generated gestures. Most gestures were informed by physical interaction, and when people interacted from a distance, they sought a good perspective on the target object before and during the interaction. These results suggest that gesture designers need to account for scale, and should not simply reuse gestures across different hologram sizes.

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Abstract

Electronic fashion (eFashion) garments use technology to augment the human body with wearable interaction. In developing ideas, eFashion designers need to prototype the role and behavior of the interactive garment in context; however, current wearable prototyping toolkits require semi-permanent construction with physical materials that cannot easily be altered. We present Bod-IDE, an augmented reality 'mirror' that allows eFashion designers to create virtual interactive garment prototypes. Designers can quickly build, refine, and test on-the-body interactions without the need to connect or program electronics. By envisioning interaction with the body in mind, eFashion designers can focus more on reimagining the relationship between bodies, clothing, and technology.

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Abstract

This paper presents a set of lessons learnt from introducing maker culture and DIY paradigms to 'at-risk' students (age 12-14). Our goal is to engage 'at-risk' students through maker culture activities. While improved technology literacy is one of the outcomes we also wanted the learners to use technology to realize concepts and ideas, and to gain freedom of thinking similar to creators, artists and designers. We present our study and a set of high level suggestions to enable thinking about how maker culture activities can facilitate engagement and creative use of technology by 1) thinking about creativity in task, 2) facilitating different entry points, 3) the importance of personal relevance, and 4) relevance to education.

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We present PEP (Printed Electronic Papercrafts), a set of design and fabrication techniques to integrate electronic based interactivities into printed papercrafts via 3D sculpting. We explore the design space of PEP, integrating four functions into 3D paper products: actuation, sensing, display, and communication, leveraging the expressive and technical opportunities enabled by paper-like functional layers with a stack of paper. We outline a seven-step workflow, introduce a design tool we developed as an add-on to an existing CAD environment, and demonstrate example applications that combine the electronic enabled functionality, the capability of 3D sculpting, and the unique creative affordances by the materiality of paper.

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Abstract

We explore a new approach to programming swarm user interfaces (Swarm UI) by leveraging direct physical manipulation. Existing Swarm UI applications are written using a robot programming framework: users work on a computer screen and think in terms of low-level controls. In contrast, our approach allows programmers to work in physical space by directly manipulating objects and think in terms of high-level interface design. Inspired by current UI programming practices, we introduce a four-step workflow-create elements, abstract attributes, specify behaviors, and propagate changes-for Swarm UI programming. We propose a set of direct physical manipulation techniques to support each step in this workflow. To demonstrate these concepts, we developed Reactile, a Swarm UI programming environment that actuates a swarm of small magnets and displays spatial information of program states using a DLP projector. Two user studies-an in-class survey with 148 students and a lab interview with eight participants-confirm that our approach is intuitive and understandable for programming Swarm UIs.

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Abstract

We present a system for safe human-robot collaboration through the use of virtual barriers created in augmented reality (AR). In any human-robot cooperative scenario, safety is foremost important and must be guaranteed. Using a Microsoft HoloLens AR headset, our system provides two mechanisms for ensuring safety - 1) a person barrier that encapsulates and follows the user to protect the user from collision with the robot. 2) virtual barriers that can be created and placed arbitrarily by the user to protect surrounding objects or regions from the robot. We demonstrate the usefulness of our system through two case studies representing tasks in collaborative manufacturing, showing how our system achieves seamless operation through two different response behaviours to barrier collisions.

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Based on an analysis of 49 popular contemporary video games, we develop a descriptive framework of visual interaction cues in video games. These cues are used to inform players what can be interacted with, where to look, and where to go within the game world. These cues vary along three dimensions: the purpose of the cue, the visual design of the cue, and the circumstances under which the cue is shown. We demonstrate that this framework can also be used to describe interaction cues for augmented reality applications. Beyond this, we show how the framework can be used to generatively derive new design ideas for visual interaction cues in augmented reality experiences.

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Remote collaborators working together on physical objects have difficulty building a shared understanding of what each person is talking about. Conventional video chat systems are insufficient for many situations because they present a single view of the object in a flattened image. To understand how this limited perspective affects collaboration, we designed the Remote Manipulator (ReMa), which can reproduce orientation manipulations on a proxy object at a remote site. We conducted two studies with ReMa, with two main findings. First, a shared perspective is more effective and preferred compared to the opposing perspective offered by conventional video chat systems. Second, the physical proxy and video chat complement one another in a combined system: people used the physical proxy to understand objects, and used video chat to perform gestures and confirm remote actions.

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People often enjoy sharing outdoor activities together such as walking and hiking. However, when family and friends are separated by distance it can be difficult if not impossible to share such activities. We explore this design space by investigating the benefits and challenges of using a telepresence robot to support outdoor leisure activities. In our study, participants participated in the outdoor activity of geocaching where one person geocached with the help of a remote partner via a telepresence robot. We compared a wide field of view (WFOV) camera to a 360° camera. Results show the benefits of having a physical embodiment and a sense of immersion with the 360° view. Yet challenges related to a lack of environmental awareness, safety issues, and privacy concerns resulting from bystander interactions. These findings illustrate the need to design telepresence robots with the environment and public in mind to provide an enhanced sensory experience while balancing safety and privacy issues resulting from being amongst the general public.

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Toolkit research plays an important role in the field of HCI, as it can heavily influence both the design and implementation of interactive systems. For publication, the HCI community typically expects toolkit research to include an evaluation component. The problem is that toolkit evaluation is challenging, as it is often unclear what 'evaluating' a toolkit means and what methods are appropriate. To address this problem, we analyzed 68 published toolkit papers. From our analysis, we provide an overview of, reflection on, and discussion of evaluation methods for toolkit contributions. We identify and discuss the value of four toolkit evaluation strategies, including the associated techniques that each employs. We offer a categorization of evaluation strategies for toolkit researchers, along with a discussion of the value, potential limitations, and trade-offs associated with each strategy.

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Drivers use nonverbal cues such as vehicle speed, eye gaze, and hand gestures to communicate awareness and intent to pedestrians. Conversely, in autonomous vehicles, drivers can be distracted or absent, leaving pedestrians to infer awareness and intent from the vehicle alone. In this paper, we investigate the usefulness of interfaces (beyond vehicle movement) that explicitly communicate awareness and intent of autonomous vehicles to pedestrians, focusing on crosswalk scenarios. We conducted a preliminary study to gain insight on designing interfaces that communicate autonomous vehicle awareness and intent to pedestrians. Based on study outcomes, we developed four prototype interfaces and deployed them in studies involving a Segway and a car. We found interfaces communicating vehicle awareness and intent: (1) can help pedestrians attempting to cross; (2) are not limited to the vehicle and can exist in the environment; and (3) should use a combination of modalities such as visual, auditory, and physical.

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In the coming years, emergency calling services in North America will begin to incorporate new modalities for reporting emergencies, including video-based calling. The challenge is that we know little of how video calling systems should be designed and what benefits or challenges video calling might bring. We conducted observations and contextual interviews within three emergency response call centres to investigate these points. We focused on the work practices of call takers and dispatchers. Results show that video calls could provide valuable contextual information about a situation and help to overcome call taker challenges with information ambiguity, location, deceit, and communication issues. Yet video calls have the potential to introduce issues around control, information overload, and privacy if systems are not designed well. These results point to the need to think about emergency video calling along a continuum of visual modalities ranging from audio calls accompanied with images or video clips to one-way video streams to two-way video streams where camera control and camera work need to be carefully designed.

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In the physical world, teammates develop situation awareness about each other's location, status, and actions through cues such as gaze direction and ambient noise. To support situation awareness, distributed multiplayer games provide awareness cues - information that games automatically make available to players to support cooperative gameplay. The design of awareness cues can be extremely complex, impacting how players experience games and work with teammates. Despite the importance of awareness cues, designers have little beyond experiential knowledge to guide their design. In this work, we describe a design framework for awareness cues, providing insight into what information they provide, how they communicate this information, and how design choices can impact play experience. Our research, based on a grounded theory analysis of current games, is the first to provide a characterization of awareness cues, providing a palette for game designers to improve design practice and a starting point for deeper research into collaborative play.

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In this paper, we discuss the role of the movement trajectory and velocity enabled by our tele-robotic system (ReMa) for remote collaboration on physical tasks. Our system reproduces changes in object orientation and position at a remote location using a humanoid robotic arm. However, even minor kinematics differences between robot and human arm can result in awkward or exaggerated robot movements. As a result, user communication with the robotic system can become less efficient, less fluent and more time intensive.

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For people with visual impairments, tactile graphics are an important means to learn and explore information. However, raised line tactile graphics created with traditional materials such as embossing are static. While available refreshable displays can dynamically change the content, they are still too expensive for many users, and are limited in size. These factors limit wide-spread adoption and the representation of large graphics or data sets. In this paper, we present FluxMaker, an inexpensive scalable system that renders dynamic information on top of static tactile graphics with movable tactile markers. These dynamic tactile markers can be easily reconfigured and used to annotate static raised line tactile graphics, including maps, graphs, and diagrams. We developed a hardware prototype that actuates magnetic tactile markers driven by low-cost and scalable electromagnetic coil arrays, which can be fabricated with standard printed circuit board manufacturing. We evaluate our prototype with six participants with visual impairments and found positive results across four application areas: location finding or navigating on tactile maps, data analysis, and physicalization, feature identification for tactile graphics, and drawing support. The user study confirms advantages in application domains such as education and data exploration.

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We compare the effectiveness of 2D maps and 3D terrain models for visibility tasks and demonstrate how interactive dynamic viewsheds can improve performance for both types of terrain representations. In general, the two-dimensional nature of classic topographic maps limits their legibility and can make complex yet typical cartographic tasks like determining the visibility between locations difficult. Both 3D physical models and interactive techniques like dynamic viewsheds have the potential to improve viewers' understanding of topography, but their impact has not been deeply explored. We evaluate the effectiveness of 2D maps, 3D models, and interactive viewsheds for both simple and complex visibility tasks. Our results demonstrate the benefits of the dynamic viewshed technique and highlight opportunities for additional tactile interactions. Based on these findings we present guidelines for improving the design and usability of future topographic maps and models.

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We present an observational study of physical prototype critique that highlights some of the challenges of communicating physical behaviors and materiality at a distance. Geographically distributed open hardware communities often conduct user feedback and peer critique sessions via video conference. However, people have difficulty using current video conferencing tools to demonstrate and critique physical designs. To examine the challenges of remote critique, we conducted an observational lab study in which participants critiqued pairs of physical prototypes (prosthetic hands) for a face-to-face or remote collaborator. In both conditions, participants' material experiences were an important part of their critique, however their attention was divided between interacting with the prototype and finding strategies to communicate `invisible' features. Based on our findings, we propose design implications for remote collaboration tools that support the sharing of material experiences and prototype critique.

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In this paper we consider various genres of citizen science from the perspective of citizen participants. As a mode of scientific inquiry, citizen science has the potential to "scale up" scientific data collection efforts and increase lay engagement with science. However, current technological directions risk losing sight of the ways in which citizen science is actually practiced. As citizen science is increasingly used to describe a wide range of activities, we begin by presenting a framework of citizen science genres. We then present findings from four interlocking qualitative studies and technological interventions of community air quality monitoring efforts, examining the motivations and capacities of citizen participants and characterizing their alignment with different types of citizen science. Based on these studies, we suggest that data acquisition involves complex multi-dimensional tradeoffs, and the commonly held view that citizen science systems are a win-win for citizens and science may be overstated.

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In this paper we analyze the role of physical scale models in the architectural design process and apply insights from architecture for the creation and use of data physicalizations. Based on a survey of the architecture literature on model making and ten interviews with practicing architects, we describe the role of physical models as a tool for exploration and communication. From these observations, we identify trends in the use of physical models in architecture, which have the potential to inform the design of data physicalizations. We identify four functions of architectural modeling that can be directly adapted for use in the process of building rich data models. Finally, we discuss how the visualization community can apply observations from architecture to the design of new data physicalizations.

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Interactive, smart objects – customized to individuals and uses – are central to many movements, such as tangibles, the internet of things (IoT), and ubiquitous computing. Yet, rapid prototyping both the form and function of these custom objects can be problematic, particularly for those with limited electronics or programming experience. Designers often need to embed custom circuitry; program its workings; and create a form factor that not only reflects the desired user experience but can also house the required circuitry and electronics. To mitigate this, we created Pineal, a design tool that lets end-users: (1) modify 3D models to include a smart watch or phone as its heart; (2) specify high-level interactive behaviours through visual programming; and (3) have the phone or watch act out such behaviours as the objects' "smarts". Furthermore, a series of prototypes show how Pineal exploits mobile sensing and output, and automatically generates 3D printed form-factors for rich, interactive, objects.

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Do-it-yourself (DIY) inspired activities have gained popularity as a means of creative expression and self-directed learning. However, DIY culture is difficult to implement in places with limited technology infrastructure and traditional learning cultures. Our goal is to understand how learners in such a setting react to DIY activities. We present observations from a physical computing workshop with 12 students (13-15 years old) conducted at a high school in India. We observed unique challenges for these students when tackling DIY activities: a high monetary and psychological cost to exploration, limited independent learning resources, difficulties with finding intellectual courage and assumed technical language proficiency. Our participants, however, overcome some of these challenges by adopting their own local strategies: resilience, nonverbal and verbal learning techniques, and creating documentation and fallback circuit versions. Based on our findings, we discuss a set of lessons learned about makerspaces in a context with socio-technical challenges.

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We contribute an investigation of the design and function of word-scale graphics and visualizations embedded in text documents. Word-scale graphics include both data-driven representations such as word-scale visualizations and sparklines, and non-data-driven visual marks. Their design, function, and use has so far received little research attention. We present the results of an open ended exploratory study with nine graphic designers. The study resulted in a rich collection of different types of graphics, data provenance, and relationships between text, graphics, and data. Based on this corpus, we present a systematic overview of word-scale graphic designs, and examine how designers used them. We also discuss the designers' goals in creating their graphics, and characterize how they used word-scale graphics to visualize data, add emphasis, and create alternative narratives. Building on these examples, we discuss implications for the design of authoring tools for word-scale graphics and visualizations, and explore how new authoring environments could make it easier for designers to integrate them into documents.

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We introduce embedded data representations, the use of visual and physical representations of data that are deeply integrated with the physical spaces, objects, and entities to which the data refers. Technologies like lightweight wireless displays, mixed reality hardware, and autonomous vehicles are making it increasingly easier to display data in-context. While researchers and artists have already begun to create embedded data representations, the benefits, trade-offs, and even the language necessary to describe and compare these approaches remain unexplored. In this paper, we formalize the notion of physical data referents – the real-world entities and spaces to which data corresponds – and examine the relationship between referents and the visual and physical representations of their data. We differentiate situated representations, which display data in proximity to data referents, and embedded representations, which display data so that it spatially coincides with data referents. Drawing on examples from visualization, ubiquitous computing, and art, we explore the role of spatial indirection, scale, and interaction for embedded representations. We also examine the tradeoffs between non-situated, situated, and embedded data displays, including both visualizations and physicalizations. Based on our observations, we identify a variety of design challenges for embedded data representation, and suggest opportunities for future research and applications.

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People are increasingly using mobile video to communicate, collaborate, and share experiences while on the go. Yet this presents challenges in adequately sharing camera views with remote users. In this paper, we study the use of semi-autonomous drones for video conferencing, where an outdoor user (using a smartphone) is connected to a desktop user who can explore the environment from the drone's perspective. We describe findings from a study where pairs collaborated to complete shared navigation and search tasks. We illustrate the benefits of providing the desktop user with a view that is elevated, manipulable, and decoupled from the outdoor user. In addition, we articulate how participants overcame challenges in communicating environmental information and navigational cues, negotiated control of the view, and used the drone as a tool for sharing experiences. This provides a new way of thinking about mobile video conferencing where cameras that are decoupled from both users play an integral role in communication, collaboration, and sharing experiences.

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We discuss touch-based navigation of 3D visualizations in a combined monoscopic and stereoscopic viewing environment. We identify a set of interaction modes, and a workflow that helps users transition between these modes to improve their interaction experience. In our discussion we analyze, in particular, the control-display space mapping between the different reference frames of the stereoscopic and monoscopic displays. We show how this mapping supports interactive data exploration, but may also lead to conflicts between the stereoscopic and monoscopic views due to users' movement in space; we resolve these problems through synchronization. To support our discussion, we present results from an exploratory observational evaluation with domain experts in fluid mechanics and structural biology. These experts explored domain-specific datasets using variations of a system that embodies the interaction modes and workflows; we report on their interactions and qualitative feedback on the system and its workflow.

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Remote controls facilitate interactions at-a-distance with appliances. However, the complexity, diversity, and increasing number of digital appliances in ubiquitous computing ecologies make it increasingly difficult to: (1) discover which appliances are controllable; (2) select a particular appliance from the large number available; (3) view information about its status; and (4) control the appliance in a pertinent manner. To mitigate these problems we contribute proxemic-aware controls, which exploit the spatial relationships between a person's handheld device and all surrounding appliances to create a dynamic appliance control interface. Specifically, a person can discover and select an appliance by the way one orients a mobile device around the room, and then progressively view the appliance's status and control its features in increasing detail by simply moving towards it. We illustrate proxemic-aware controls of assorted appliances through various scenarios. We then provide a generalized conceptual framework that informs future designs of proxemic-aware controls.

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Makers participate in remixing culture by drawing inspiration from, combining, and adapting designs for physical objects. To examine how makers remix each others' designs on a community scale, we analyzed metadata from over 175,000 digital designs from Thingiverse, the largest online design community for digital fabrication. Remixed designs on Thingiverse are predominantly generated designs from Customizer a built-in web app for adjusting parametric designs. However, we find that these designs do not elicit subsequent user activity and the authors who generate them tend not to contribute additional content to Thingiverse. Outside of Customizer, influential sources of remixing include complex assemblies and design primitives, as well as non-physical resources posing as physical designs. Building on our findings, we discuss ways in which online maker communities could become more than just design repositories and better support collaborative remixing.

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Software is typically developed incrementally and released in stages. Planning these releases involves deciding which features of the system should be implemented for each release. This is a complex planning process involving numerous trade-offs-constraints and factors that often make decisions difficult. Since the success of a product depends on this plan, it is important to understand the trade-offs between different release plans in order to make an informed choice. We present STRATOS, a tool that simultaneously visualizes several software release plans. The visualization shows several attributes about each plan that are important to planners. Multiple plans are shown in a single layout to help planners find and understand the trade-offs between alternative plans. We evaluated our tool via a qualitative study and found that STRATOS enables a range of decision-making processes, helping participants decide on which plan is most optimal.

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Mobile video conferencing, where one or more participants are moving about in the real world, enables entirely new interaction scenarios (e.g., asking for help to construct or repair an object, or showing a physical location). While we have a good understanding of the challenges of video conferencing in office or home environments, we do not fully understand the mechanics of camera work-how people use mobile devices to communicate with one another-during mobile video calls. To provide an understanding of what people do in mobile video collaboration, we conducted an observational study where pairs of participants completed tasks using a mobile video conferencing system. Our analysis suggests that people use the camera view deliberately to support their interactions-for example, to convey a message or to ask questions-but the limited field of view, and the lack of camera control can make it a frustrating experience.

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We explore interactive relief shearing, a set of non-intrusive, direct manipulation interactions that expose depth and shape information in terrain maps using ephemeral animations. Reading and interpreting topography and relief on terrain maps is an important aspect of map use, but extracting depth information from 2D maps is notoriously difficult. Modern mapping software attempts to alleviate this limitation by presenting digital terrain using 3D views. However, 3D views introduce occlusion, complicate distance estimations, and typically require more complex interactions. In contrast, our approach reveals depth information via shearing animations on 2D maps, and can be paired with existing interactions such as pan and zoom. We examine explicit, integrated, and hybrid interactions for triggering relief shearing and present a version that uses device tilt to control depth effects. Our evaluation shows that these interactive techniques improve depth perception when compared to standard 2D and perspective views.

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We introduce Swarm Fabrication, a novel concept of creating on- demand, scalable, and reconfigurable fabrication machines made of swarm robots. We present ways to construct an element of fabrica- tion machines, such as motors, elevator, table, feeder, and extruder, by leveraging toio robots and 3D printed attachments. By combin- ing these elements, we demonstrate constructing a X-Y-Z plotter with multiple toio robots, which can be used for drawing plotters and 3D printers. We also show the possibility to extend our idea to more general-purpose fabrication machines, which include 3D printers, CNC machining, foam cutters, line drawing devices, pick and place machines, 3D scanning, etc. Through this, we draw a future vision, where the swarm robots can construct a scalable and reconfigurable fabrication machines on-demand, which can be deployed anywhere the user wishes. We believe this fabrication technique will become a means of interactive and highly flexible fabrication in the future.

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This demo introduces a framework that uses programmable electromagnets as a method to rapidly prototype interactive objects. Our approach allows users to to quickly and inexpensively embed actuation mechanisms into otherwise static prototypes in order to make them dynamic and interactive. Underpinning the technique is the insight of using electromagnets to interchangeably create attractive and repulsive forces between adjacent parts, and programmatically setting their polarities in a way that allows objects to translate rotationally and linearly, respond haptically, assemble, and locomote.

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In this paper, I introduce collective shape-changing interfaces, a class of shape-changing interfaces that consist of a set of discrete collective elements. Through massively parallel transformation, locomotion, and connection of individual building blocks, the overall physical structure can be dynamically changed. Given this parallel change of individual elements, I propose three approaches for user interaction: dynamic, improvised, and actuated collective shape transformation. I exemplify each approach through my own work and possible future work.

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We present a system for safe human-robot collaboration through the use of virtual barriers created in augmented reality (AR). In any human-robot cooperative scenario, safety is foremost important and must be guaranteed. Using a Microsoft HoloLens AR headset, our system provides two mechanisms for ensuring safety - 1) a person barrier that encapsulates and follows the user to protect the user from collision with the robot. 2) virtual barriers that can be created and placed arbitrarily by the user to protect surrounding objects or regions from the robot. We demonstrate the usefulness of our system through two case studies representing tasks in collaborative manufacturing, showing how our system achieves seamless operation through two different response behaviours to barrier collisions.

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