KiriInflate: Fabricating Cross-Scale Inflatables with Large-Magnitude Contraction and Tunable Stretchability for Tangible InteractionWe present KiriInflate, a rapid, precise, and accessible fabrication method for creating stretchable inflatables with Kirigami structures. These inflatables, fabricated at multiple scales (from fingernail-sized to body-sized), exhibit rapid, large contraction upon inflation up to 83.5% and provide tunable stretchability. Our fabrication process leverages the electrostatic adhesion of plastic films and an off-the-shelf laser cutter to simultaneously cut and fuse the edges of inflatables, achieving ultra-narrow seals (< 0.125 mm). Our structural design enables versatile 3D morphing upon inflation and tunable stretch behavior, with experimental studies offering design guidelines for key geometric parameters. A series of applications, including an eyelid assistive device, a multi-mode game handle, a dynamic elbow brace, and breathable lamps, highlight its potential for diverse interaction in HCI.2025YYYue Yang et al.Shape-Changing Interfaces & Soft Robotic MaterialsShape-Changing Materials & 4D PrintingUIST
EmbroChet: A Hybrid Textile Fabrication Approach for 3D Personalized Handicraft via Heat-ShrinkingWe propose EmbroChet, a hybrid approach that bridges digital fabrication and textile craftsmanship, empowering individuals unfamiliar with intricate craft techniques to design and fabricate 3D textile handicrafts intuitively. EmbroChet allows the creation of handicrafts by embroidering chain stitches (a fundamental embroidery technique) onto a heat-shrinkable film, which subsequently self-transforms from a 2D composite to a 3D textile through a freely controllable heating triggering process. Through a single stitch type, the method enables custom designs and intricate geometries to be achieved without complex manual skills that often requires expertise between different stitch knowledge. To better demonstrate EmbroChet, we propose a design tool that includes shape-changing libraries to assist users in customizing 3D shapes. The evaluation demonstrates its unique strength in balancing geometric complexity and textile softness. Furthermore, our workshop verifies the feasibility of EmbroChet, exploring its potential for personalized textile fabrication, and synergizing the precision of digital fabrication with the tactile artistry of textile craftsmanship.2025GWGuanyun Wang et al.Shape-Changing Interfaces & Soft Robotic MaterialsProgramming Education & Computational ThinkingShape-Changing Materials & 4D PrintingUIST
GyFoam: Fabricating Lattice Foam with Customizable Stiffness through Uniform ExpansionWe present GyFoam, a fabrication method integrating foam material with lattice structure to enable controlled and uniform expansion, which supports high-quality forming in appearance and customizable stiffness in function, using standard 3D printers, filaments, commercially available Thermo-Expandable Microspheres and silicone. To achieve customizable stiffness, we propose two methods through experiment: modifying material concentration and adjusting lattice structural parameters. Additionally, we propose three shape control strategies for creating complex shapes: bending, wavy edges, and internal doming. Furthermore, a user-friendly design tool is established for users to construct lattice structures, preview basic deformation, and generate mold models for printing. Finally, through a series of applications, we validate GyFoam's practical usage of fabricating large objects, wearable products, enabling flexible interactions and creating aesthetic designs.2025GWGuanyun Wang et al.Desktop 3D Printing & Personal FabricationShape-Changing Materials & 4D PrintingCustomizable & Personalized ObjectsUIST
Touch-n-Curl: Designing and Constructing Skeletal Form through 3D Printing Flattened Zipper AssemblyIn the realm of digital fabrication, skeletal structures offer lightweight, cost-effective solutions for art installation, rapid fabrication, and large-scale construction. However, existing 3D printing methods for skeletal structures often require support structures, resulting in prolonged print time and excessive material consumption. This paper presents Touch-n-Curl, a design and construction system for rapidly prototyping 3D skeletal curved structures, covering scales from millimeters to meters, by printing 2D zipper assemblies with interlocking mechanisms using conventional 3D printers. This design process is made possible by a computational method that unrolls a 3D model into a 2D branch assembly while minimizing branch intersections, making the fabrication process both efficient and robust. A parametric design tool is developed to support this inverse design workflow, instantly generating 2D zippers and offering a preview of the 3D skeletal assembly. To ensure users can effectively utilize the system, we implement methods such as edge disjoining and tree rectification to accommodate closed mesh imports in addition to opened trees at a wide range of complexity measured by curvature and torsion. The result of this integrated and accessible workflow is evaluated in fabrication speed, mechanical strength, and shape-matching accuracy, and its versatility is showcased through a series of demonstrations.2025DPDeying Pan et al.Desktop 3D Printing & Personal FabricationCircuit Making & Hardware PrototypingUIST
DreamDirector: Designing a Generative AI System to Aid Therapists in Treating Clients' NightmaresNightmares can adversely affect individuals' mental health and well-being, necessitating timely psychological intervention. Current nightmare therapy has set high requirements for therapists, appeared abstract to clients, and showed poor interaction between them, due to its extensive information input, lack of sensory stimulation, and exclusive reliance on one-on-one conversation. We proposed DreamDirector, a visual-interactive and narrative generative system powered by generative AI. Based on Imagery Rehearsal Therapy (IRT) and Nightmare Deconstruction and Reprocessing (NDR), the system can (1) recollect the nightmare scene, (2) interpret the dream with LLM, (3) reprocess the nightmare by generating therapeutic dream visuals using AI painting alongside meditative texts, and feedback with a picture book. Finally, we verified the usability of this system in terms of efficiency enhancement and interaction promotion through a user study with 2 therapists and 16 clients. The results revealed emotional relief among clients, with a positive and impressive attitude toward visual interaction.2025YZYijun Zhao et al.Generative AI (Text, Image, Music, Video)Mental Health Apps & Online Support CommunitiesIUI
AIFiligree: A Generative AI Framework for Designing Exquisite Filigree ArtworksFiligree art, which represents typical intricate metalwork, has been captivating audiences worldwide with its delicate lace-like patterns and interwoven metal wires' refined aesthetics. Particularly, Chinese Intangible Cultural Heritage filigree craftsmanship has a unique aesthetic value in fine patterns and complex three-dimensional shapes. However, designing and creating filigree artworks is a labor-intensive and technically complex task and often requires extensive training and a deep understanding of the craft, which limits its design aesthetic and cultural continuity. Aiming to overcome these challenges, this study proposes an artificial intelligence (AI)-aided method that uses AI-generated content (AIGC) technology to accelerate the visualization process of this time-consuming and intricate craft by investigating the role of AI in craft design. First, a comprehensive study of filigree art culture is conducted to identify more than ten historic filigree techniques to obtain AI opportunities. Then, an AI-powered framework called AIFiligree is developed by optimizing culture-based labels and training parameters, enabling the generation of highly authentic fine filigree structures. Further, user workflows are introduced to support diverse design scenarios. Through user studies involving 22 filigree experts and 16 designers, we finally gained insights into AI's opportunities and challenges in cultural learning, expression, and design.2025YTYe Tao et al.Hangzhou City UniversityGenerative AI (Text, Image, Music, Video)Museum & Cultural Heritage DigitizationCHI
X-Hair: 3D Printing Hair-like Structures with Multi-form, Multi-property and Multi-functionIn this paper, we present X-Hair, a method that enables 3D-printed hair with various forms, properties, and functions. We developed a two-step suspend printing strategy to fabricate hair-like structures in different forms (e.g. fluff, bristle, barb) by adjusting parameters including Extrusion Length Ratio and Total Length. Moreover, a design tool is also established for users to customize hair-like structures with various properties (e.g. pointy, stiff, soft) on imported 3D models, which virtually shows the results for previewing and generates G-code files for 3D printing. We demonstrate the design space of X-Hair and evaluate the properties of them with different parameters. Through a series of applications with hair-like structures, we validate X-hair's practical usage of biomimicry, decoration, heat preservation, adhesion, and haptic interaction.2024GWGuanyun Wang et al.Shape-Changing Interfaces & Soft Robotic MaterialsDesktop 3D Printing & Personal FabricationUIST
MagneDot: Integrated Fabrication and Actuation Methods of Dot-Based Magnetic Shape DisplaysThis paper presents MagneDot, a novel method for making interactive magnetic shape displays through an integrated fabrication process. Magnetic soft materials can potentially create fast, responsive morphing structures for interactions. However, novice users and designers typically do not have access to sophisticated equipment and materials or cannot afford heavy labor to create interactive objects based on this material. Modified from an open-source 3D printer, the fabrication system of MagneDot integrates the processes of mold-making, pneumatic extrusion, magnetization, and actuation, using cost-effective materials only. By providing a design tool, MagneDot allows users to generate G-codes for fabricating and actuating displays of various morphing effects. Finally, a series of design examples demonstrate the possibilities of shape displays enabled by MagneDot.2024LSLingyun Sun et al.Shape-Changing Interfaces & Soft Robotic MaterialsDesktop 3D Printing & Personal FabricationShape-Changing Materials & 4D PrintingUIST
KiPneu: Designing a Constructive Pneumatic Platform for Biomimicry Learning in STEAM EducationBiomimicry, a methodology adapted from nature, always inspires optimum solutions and innovative technologies in human history. To get children interested in, excited about, and inspired by biomimicry, we introduce KiPneu, a robotic platform that facilitates biomimicry education through hands-on, solution-oriented learning and a digital learning environment. KiPneu allows children to mimic flexible animal locomotion, like fish swimming or worm squirming, using low-cost building blocks and non-electrical pneumatic actuators. We provide five types of non-electrical tangible valves to adjust robot motion characteristics, such as direction and speed, through engaging tangible programming. Additionally, to facilitate the whole learning process, KiPneu comes with interactive instructional interface that visualize and simulate the pneumatic system. To validate KiPneu's educational efficacy, we conducted a three-day workshop with 21 children aged 5-12. Pre-and-post surveys revealed KiPneu not only enhanced their understanding of animal locomotion mechanisms but also spurred interest in creative construction using acquired knowledge.2024GWGuanyun Wang et al.Shape-Changing Interfaces & Soft Robotic MaterialsEye Tracking & Gaze InteractionSTEM Education & Science CommunicationDIS
SnapInflatables: Designing Inflatables with Snap-through Instability for Responsive InteractionSnap-through instability, like the rapid closure of the Venus flytrap, is gaining attention in robotics and HCI. It offers rapid shape reconfiguration, self-sensing, actuation, and enhanced haptic feedback. However, conventional snap-through structures face limitations in fabrication efficiency, scale, and tunability. We introduce SnapInflatables, enabling safe, multi-scale interaction with adjustable sensitivity and force reactions, utilizing the snap-through instability of inflatables. We designed six types of heat-sealing structures enabling versatile snap-through passive motion of inflatables with diverse reaction and trigger directions. A block structure enables ultra-sensitive states for rapid energy release and force amplification. The motion range is facilitated by geometry parameters, while force feedback properties are tunable through internal pressure settings. Based on experiments, we developed a design tool for creating desired inflatable snap-through shapes and motions, offering previews and inflation simulations. Example applications, including a self-locking medical stretcher, interactive animals, and a bounce button, demonstrate enhanced passive interaction with inflatables.2024YYYue Yang et al.Zhejiang UniversityShape-Changing Interfaces & Soft Robotic MaterialsCHI
Touch-n-Go: Designing and Fabricating Touch Fastening Structures by FDM 3D PrintingTouch fastening structures are widely used to quickly assemble and disassemble an object with multiple parts. However, such structures are under-explored in the context of additive manufacturing for personal fabrication. We proposed Touch-n-Go, a method for designing touch-fastening structures with customizable mechanical properties such as holding capacities or shearing strength. Additionally, the customization of fastener patterns enables both static and dynamic connections, and the dynamic connections grant the freedom of rotation and translation. To facilitate the customization process, we developed a design tool that allows the integration of fastening structures on the surface of a 3D-printed object. Furthermore, we validated the fastening properties of Touch-n-Go through a series of experiments, and the result exhibits performances that match or even surpass off-the-shelf fasteners. Finally, we demonstrated the implementation of Touch-n-Go through a collection of applications.2024LSLingyun Sun et al.Zhejiang UniversityDesktop 3D Printing & Personal FabricationCustomizable & Personalized ObjectsCHI
TacTex: A Textile Interface with Seamlessly-Integrated Electrodes for High-Resolution electrotactile StimulationThis paper presents TacTex, a textile-based interface that provides high-resolution haptic feedback and touch-tracking capabilities. TacTex utilizes electrotactile stimulation, which has traditionally posed challenges due to limitations in textile electrode density and quantity. TacTex overcomes these challenges by employing a multi-layer woven structure that separates conductive weft and warp electrodes with non-conductive yarns. The driving system for TacTex includes a power supply, sensing board, and switch boards to enable spatial and temporal control of electrical stimuli on the textile, while simultaneously monitoring voltage changes. TacTex can stimulate a wide range of haptic effects, including static and dynamic patterns and different sensation qualities, with a resolution of $512 \times 512$ and \textcolor{black}{based on linear electrodes spaced as closely as 2mm}. We evaluate the performance of the interface with user studies and demonstrate the potential applications of TacTex interfaces in everyday textiles for adding haptic feedback.2024HLHongnan Lin et al.Institute of Software, Chinese Academy of SciencesVibrotactile Feedback & Skin StimulationShape-Changing Interfaces & Soft Robotic MaterialsElectronic Textiles (E-textiles)CHI
IntelliTex: Fabricating Low-cost and Washable Functional Textiles using A Double-coating Process We present IntelliTex, a low-cost and highly accessible double-coating fabrication method for washable and reusable functional textiles with customized input functionalities. Specifically, off-the-shelf textiles are firstly coated with conductive carbon black using pen ink, which endows textiles with rich sensing capabilities, such as pressure, stretch, slide, and temperature. Secondly, textiles are coated with polyurethane to enhance the sensing stability over wash cycles for good reusability. To support user customization, we enrich the design space of double-coating by exploring various coating methods and diverse textiles to be coated. We further contribute a comprehensive library of input components and an online document to make our approach accessible to novice users. Finally, five application examples and a user study showcase the versatile functionalities and user accessibility of our method, with which we hope to support designers, makers, and researchers to easily create functional textiles ready to use in everyday life.2024YPYuecheng Peng et al.Zhejiang UniversityElectronic Textiles (E-textiles)Customizable & Personalized ObjectsCHI
E-Orthosis: Augmenting Off-the-shelf Orthoses with ElectronicsOrthoses with electronic functions have emerged as a promising medical product in response to the increasing demand for rehabilitation training, therapy assistance, and health monitoring. However, fabricating this “smart orthosis” often requires long development cycles and exorbitant prices. We introduce E-Orthosis, an integrated fabrication approach with construction toolkits for healthcare professionals to quickly embed electronics in off-the-shelf orthoses with customized functions cost-effectively and time-efficiently. Specifically, we develop components with magnets and pogo pins to support rapid attachment and sustainable use, and textile-based electrodes with snap installation to improve the wearing experience. We also provide a circuit iron tool to apply circuit traces on complex surfaces of orthoses directly and a hot punch tool to embed magnet ports and electrodes. Three application examples, technical evaluations, and expert reviews demonstrate the functionality of E-orthosis and the potential for democratizing rapid-developed and low-cost smart orthoses for patients.2023YYYue Yang et al.Zhejiang UniversityElectrical Muscle Stimulation (EMS)Haptic WearablesCircuit Making & Hardware PrototypingCHI