AeroRigUI: Actuated TUIs for Spatial Interaction using Rigging Swarm Robots on Ceilings in Everyday Space

Document Title

AeroRigUI: Actuated TUIs for Spatial Interaction using Rigging Swarm Robots on Ceilings in Everyday Space

Document Information

• Subject Area: Human-Computer Interaction, Tangible User Interface Design, Spatial Interaction, and Robotics
• Keywords: Actuated Tangible UI, Spatial User Interface Display, Human-Robot Interaction, Aerial Rigging, Swarm Robots, String-actuation

Research Background and Problem

• Problem or Challenge:
  • How to utilize underused spaces like indoor ceilings for three-dimensional manipulation of physical objects.
  • Existing technologies (e.g., magnetic levitation, acoustic levitation, and drones) face limitations in noise, load-bearing capacity, and deployability.
  • Spatial user interfaces often lack the ability to control large, heavy objects and are not easily installable.
• Importance of the Problem:
  • Developing dynamic and tangible interaction systems in 3D space can enhance visual displays, information visualization, and the manipulation of dynamic indoor installations in everyday environments.
• Research Motivation and Related Work:
  • The authors draw inspiration from aerial rigging techniques used in stage performances to dynamically control the position and movement of objects in the air.
  • Current string-actuated interfaces and aerial user interface technologies are mostly based on fixed-position systems, which are difficult to dynamically configure and remove.

Solution

• Method and Solution:
  • Propose AeroRigUI, a system that uses autonomous mobile swarm robots (RigBots) installed on ceilings, along with string and reel mechanisms, to control physical objects in the air.
  • The system offers controllability for different application scenarios (e.g., 6 degrees of freedom, high load capacity) and ease of deployment.
• Innovations:
  • Utilize ceilings as anchor points to achieve 3D object manipulation in space, with multi-robot collaboration enabling greater degrees of freedom and load capacity.
  • Designed modular hardware and software systems, including hardware adapted from commercial robots and software for object position control.
  • Provide improved anti-swing control, significantly reducing swing caused by robot manipulation.
• Implementation Steps:
  1. Design two types of devices: standard and high-load RigBots, including reel mechanisms and magnetic attachment.
  2. Create deployable ceiling support structures using strong magnets to attach to iron surfaces.
  3. Develop a graphical user interface (GUI) to support real-time control of objects and use a computational pipeline for multi-robot motion management in 3D space.
  4. Conduct technical evaluations to model and validate the system's load capacity, swing amplitude, and multi-degree-of-freedom motion accuracy.

Research Outcomes

• Specific Outcomes:
  1. Proposed AeroRigUI and implemented a prototype of the actuated tangible user interface system.
  2. Identified key technical factors (e.g., load capacity and swing control) and areas for improvement through analysis and evaluation.
  3. Demonstrated multiple practical application scenarios, including room configuration, data physicalization, and interactive animation art.
• Advantages:
  • Compared to existing technologies, AeroRigUI offers higher load capacity (up to 1 kg) and multi-degree-of-freedom control.
  • The system can be flexibly deployed in ceiling spaces, with low noise and ease of installation.
• Experimental and Evaluation Results:
  • Dimensional error: 1.19 mm in the x-direction, 2.17 mm in the y-direction, and 8 mm in the z-direction.
  • Control accuracy: Under 6 degrees of freedom, yaw, pitch, and roll errors were 1.95°, 3.50°, and 2.45°, respectively.
  • Anti-swing control significantly reduced swing amplitude but required trade-offs with movement time delays.
• Limitations and Future Directions:
  • Limitations:
    • Swing remains a major issue during object movement.
    • System deployment depends on ceiling characteristics, and the current prototype design requires improvements for higher precision and dynamic control.
    • Limited by robot power and load capacity during complex interactions.
  • Future Directions:
    • Improve hardware design using lighter and stronger robots and materials.
    • Develop more advanced closed-loop control systems to further reduce swing.
    • Expand application scenarios, such as haptic systems for virtual reality and motion skill learning in physical education.