WeavePrint: A Generative Method for Woven-like Additive Manufacturing Based on Parametric Weave StructuresThis paper presents WeavePrint, a parametric and multi-material additive manufacturing method for woven-like structures. By fusing traditional weaving logic with computational generation, WeavePrint overcomes limitations in pattern programmability, mechanical tunability, and build size. A parametric generator creates plain, twill, satin, and image-based jacquard patterns, while supporting curved-surface mapping and continuous vertical roll-to-roll printing for scalable production. Systematic tensile and compression tests quantify how overlap length, filament width, and multi-material combinations influence inter-layer adhesion and global mechanics. We define four motion primitives: bending, twisting, curved extension-contraction, and hinged extension-contraction, implemented through straight, diagonal, and curved weaves to produce predictable deformations. Demonstrations in wearable supports, robotic components, and rehabilitation devices highlight its broad potential in human-computer interaction. By unifying parametric modeling with multi-material continuous fabrication, WeavePrint provides a scalable route to programmable, anisotropic, and dynamically responsive interactive fabrics.2026JCJiacheng Cao et al.Zhejiang UniversityShape-Changing Interfaces & Soft Robotic MaterialsShape-Changing Materials & 4D PrintingCustomizable & Personalized ObjectsCHI
MagFace: Interference-Resistant Facial Gesture Recognition System on Cycling Glasses with Low-Power Magnetic SensingFacial interaction provides a safe, hands-free input method for cyclists. However, existing wearable facial gesture recognition suffers from severe interference in real-world conditions such as lighting, vibration, sweat, noise, and temperature changes. We present MagFace, an interference-resistant recognition system for cycling glasses using energy-efficient magnetic sensing. MagFace employs four pairs of magnetic silicone and magnetometers on the frame to capture subtle facial skin movements, operating at 30 Hz with a peak power of 150 mW. A tailored deep learning pipeline effectively learns magnetic signals for gesture classification. An evaluation (N=15) shows that MagFace required only one minute of training data to recognize six gestures across different cycling scenarios with high accuracy. A controlled conditions evaluation (N=8) shows MagFace's robustness against strong lighting, wind, bumpy roads, and uphills. Finally, an in-the-wild evaluation (N=14) shows the stable performance of MagFace's real-time system and demonstrates promising usability of MagFace.2026GWGuanyun Wang et al.Zhejiang UniversityHand Gesture RecognitionMotion Sickness & Passenger ExperienceContext-Aware ComputingCHI
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
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
Unlocking the Power of Speech: Game-Based Accent and Oral Communication Training for Immigrant English Language Learners via Large Language ModelsWith the growing number of immigrants globally, language barriers have become a significant challenge, particularly for those entering English-speaking countries. Traditional language learning methods often fail to provide sufficient practical opportunities, especially for diverse accents. To address this, we introduce Language Urban Odyssey (LUO), a serious game that leverages large language models (LLMs) and game-based learning to offer a low-cost, accessible virtual environment for English learners. Built on the Minecraft platform, LUO offers real-time speech interaction with NPCs of various accents, supported by multi-modal feedback. A controlled study (N=30) showed improvements in speaking abilities, accent comprehension, and emotional confidence. Our findings suggest that LUO provides a scalable, immersive platform that bridges gaps in language learning for immigrants facing cultural and social challenges.2025YZYijun Zhao et al.Zhejiang University; Hangzhou Chuanhe Machinery Co., Ltd.Conversational ChatbotsHuman-LLM CollaborationSerious & Functional GamesCHI
Xstrings: 3D Printing Cable-Driven Mechanism for Actuation, Deformation, and ManipulationIn this paper, we present Xstrings, a method for designing and fabricating 3D printed objects with integrated cable-driven mechanisms that can be printed in one go without the need for manual assembly. Xstrings supports four types of cable-driven interactions—bend, coil, screw and compress—which are activated by applying an input force to the cables. To facilitate the design of Xstrings objects, we present a design tool that allows users to embed cable-driven mechanisms into object geometries based on their desired interactions by automatically placing joints and cables inside the object. To assess our system, we investigate the effect of printing parameters on the strength of Xstrings objects and the extent to which the interactions are repeatable without cable breakage. We demonstrate the application potential of Xstrings through examples such as manipulable gripping, bionic robot manufacturing, and dynamic prototyping.2025JLJiaji Li et al.MIT, CSAIL; Zhejiang UniversityShape-Changing Interfaces & Soft Robotic MaterialsDesktop 3D Printing & Personal FabricationCHI
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
E-Joint: Fabrication of Large-Scale Interactive Objects Assembled by 3D Printed Conductive Parts with Copper Plated JointsThe advent of conductive thermoplastic filaments and multi-material 3D printing has made it feasible to create interactive 3D printed objects. Yet, challenges arise due to volume constraints of desktop 3D printers and high resistive characteristics of current conductive materials, making the fabrication of large-scale or highly conductive interactive objects can be daunting. We propose E-Joint, a novel fabrication pipeline for 3D printed objects utilizing mortise and tenon joint structures combined with a copper plating process. The segmented pieces and joint structures are customized in software along with integrated circuits. Then electroplate them for enhanced conductivity. We designed four distinct electrified joint structures in experiment and evaluated the practical feasibility and effectiveness of fabricating pipes. By constructing three applications with those structures, we verified the usability of E-Joint in making large-scale interactive objects and show path to a more integrated future for manufacturing.2024XLXiaolong Li et al.Desktop 3D Printing & Personal FabricationCircuit Making & Hardware PrototypingUIST
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
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
ThermoFit: Thermoforning Smart Orthoses via Metamaterial Structures for Body-Fitting and Component-Adjusting"Smart orthoses hold great potential for intelligent rehabilitation monitoring and training. However, most of these electronic assistive devices are typically too difficult for daily use and challenging to modify to accommodate variations in body shape and medical needs. For existing clinicians, the customization pipeline of these smart devices imposes significant learning costs. This paper introduces ThermoFit, an end-to-end design and fabrication pipeline for thermoforming smart orthoses that adheres to the clinically accepted procedure. ThermoFit enables the shapes and electronics positions of smart orthoses to conform to bodies and allows rapid iteration by integrating low-cost Low-Temperature Thermoplastics (LTTPs) with custom metamaterial structures and electronic components. Specifically, three types of metamaterial structures are used in LTTPs to reduce the wrinkles caused by the thermoforming process and to permit component position adjustment and joint movement. A design tool prototype aids in generating metamaterial patterns and optimizing component placement and circuit routing. Three applications show that ThermoFit can be shaped on bodies to different wearables. Finally, a hands-on study with a clinician verifies the user-friendliness of thermoforming smart orthosis, and technical evaluations demonstrate fabrication efficiency and electronic continuity. https://doi.org/10.1145/3580806"2023GWGuanyun Wang et al.Haptic WearablesCircuit Making & Hardware PrototypingUbiComp
NaCanva: Exploring and Enabling the Nature-Inspired Creativity for ChildrenNature has been a bountiful source of materials, replenishment, inspiration, and creativity. Nature collage, as a crafting technique, offers children a fun and educational way to explore nature and express their creativity. However, the collection of raw material has been limited to static objects like leaves, ignoring inspiration from nature’s sounds and dynamic elements such as babbling creeks. To address this limitation, we have developed a mobile application with the aim of encouraging children’s creativity through renewed material collection and careful observation in nature. To explore the possibility of this approach, we conducted a formative study with children (N=20) and a design workshop with experts (N=6). With the results of these studies, we formulate NaCanva, an AI-assisted multi-modal collage creation system for children. Drawing upon the interactive relationship between children and nature, NaCanva facillitates a multi-modal material collection, including images, sound, and videos, which differs our system from traditional collages. We validated this system with a between-subject user study (N =30), and the results indicated that NaCanva enhances children’s multidimensional observation and engagement with nature, thereby unleashing their creativity in the creation of nature collages.2023ZYZihan Yan et al.Generative AI (Text, Image, Music, Video)Digital Art Installations & Interactive PerformanceFood Culture & Food InteractionMobileHCI
All-in-One Print: Designing and 3D Printing Dynamic Objects Using Kinematic Mechanism Without AssemblyThe field of Human-Computer-Interaction (HCI) has been consistently utilizing kinematic mechanisms to create tangible dynamic interfaces and objects. However, the design and fabrication of these mechanisms are challenging due to complex spatial structures, step-by-step assembly processes, and unstable joint connections resulting from the inevitable matching errors within separated parts. In this paper, we propose an integrated fabrication method for one-step FDM 3D printing (FDM3DP) kinematic mechanisms to create dynamic objects without additional post-processing. We describe the Arch-printing and Support-bridges method, which we call All-in-One Print, that compiles given arbitrary solid 3D models into printable kinematic models as G-Code for FDM3DP. To expand the design space, we investigate a series of motion structures (e.g., rotate, slide, and screw) with multi-stabilities and develop a design tool to help users quickly design such dynamic objects. We also demonstrate various application cases, including physical interfaces, toys with interactive aesthetics and daily items with internalized functions.2023JLJiaji Li et al.Zhejiang UniversityDesktop 3D Printing & Personal FabricationShape-Changing Materials & 4D PrintingCHI
Thermotion: Design and fabrication of thermofluidic composites for animation effects on object surfacesWe introduce Thermotion, a novel method using thermofluidic composites to design and display thermochromic animation effects on object surfaces. With fluidic channels embedded under the object surfaces, the composites utilize thermofluidic flows to dynamically control the surface temperature as an actuator for thermochromic paints, which enables researchers and designers for the first time to create animations not only on two and three-dimensional surfaces but also on the surface made of a few flexible everyday materials. We report the design space with six animation primitives and two modification effects, and we demonstrate the design and fabrication workflow with a customized software platform for design and simulation. A range of applications is shown leveraging the objects' dynamic displays both visually and thermally, including dynamic artifacts, teaching aids, and ambient displays. We envision an opportunity to extend thermofluidic composites to other heat-related practices for further dynamic and programmable interactions with temperature.2023TYTianyu Yu et al.Tsinghua UniversityShape-Changing Interfaces & Soft Robotic MaterialsShape-Changing Materials & 4D PrintingCHI
LaserShoes: Low-Cost Ground Surface Detection Using Laser Speckle ImagingGround surfaces are often carefully designed and engineered with various textures to fit the functionalities of human environments and thus could contain rich context information for smart wearables. Ground surface detection could power a wide array of applications including activity recognition, mobile health, and context-aware computing, and potentially provide an additional channel of information for many existing kinesiology approaches such as gait analysis. To facilitate the detection of ground surfaces, we present LaserShoes, a texture-sensing-enabled system using laser speckle imaging that can be retrofitted to shoes. Our system captures videos of speckle patterns induced on ground surfaces and uses pre-processing to identify ideal images with clear speckle patterns collected when users' feet are in contact with ground surfaces. We demonstrated our technique with a ResNet-18 model and achieved real-time inference. We conducted an evaluation in different conditions and demonstrated results that verified the feasibility.2023ZYZihan Yan et al.MIT Media LabFull-Body Interaction & Embodied InputBiosensors & Physiological MonitoringContext-Aware ComputingCHI