shapeShift: 2D Spatial Manipulation and Self-Actuation of Tabletop Shape Displays for Tangible and Haptic Interaction

We explore interactions enabled by 2D spatial manipulation and self-actuation of a tabletop shape display. To explore these interactions, we developed shapeShift, a compact, high-resolution (7 mm pitch), mobile tabletop shape display. shapeShift can be mounted on passive rollers allowing for bimanual interaction where the user can freely manipulate the system while it renders spatially relevant content. shapeShift can also be mounted on an omnidirectional-robot to provide both vertical and lateral kinesthetic feedback, display moving objects, or act as an encountered-type haptic device for VR. We present a study on haptic search tasks comparing spatial manipulation of a shape display for egocentric exploration of a map versus exploration using a fixed display and a touch pad. Results show a 30% decrease in navigation path lengths, 24% decrease in task time, 15% decrease in mental demand and 29% decrease in frustration in favor of egocentric navigation.