Waxpaper Actuator: Sequentially and Conditionally Programmable Wax Paper for Morphing InterfacesWe print wax on the paper and turn the composite into a sequentially-controllable, moisture-triggered, rapidly-fabricated, and low-cost shape-changing interface. This technique relies on a sequential control method that harnesses two critical variables: gray levels and water amount. By integrating these variables within a bilayer structure, composed of a paper substrate and wax layer, we produce a diverse wax pattern using a solid inkjet printer. These patterns empower wax paper actuators with rapid control over sequential deformations, harnessing various bending degrees and response times, which helps to facilitate the potential of swift personal actuator customization. Our exploration encompasses the material mechanism, the sequential control method, fabrication procedures, primitive structures, and evaluations. Additionally, we introduce a user-friendly software tool for design and simulation. Lastly, we demonstrate our approach through applications across four domains: agricultural seeding, interactive toys and art, home decoration, and electrical control.2024DWDi Wu et al.Carnegie Mellon UniversityShape-Changing Interfaces & Soft Robotic MaterialsCHI
ExCell: High Expansion Ratio Moisture-Responsive Wooden Actuators for DIY Shape-Changing and Deployable StructuresWhile there has been sustained interest in shape-changing materials and deployable structures, many existing systems require engineering materials, precision fabrication, and computationally modeled kinematics in order to work. Additionally, many rely on external power sources in order to deploy. In light of these factors, we perceive a need for deployable materials that are easy to design, prototype, and deploy, and that can transform themselves in response to environmental stimuli, making them appropriate for ecological applications. In this paper, we present ExCell, a DIY-able system of water-responsive wooden linear actuators for self-actuating deployable structures. We show that ExCell can be used to develop a wide range of geometries, we present a prototyping method that can create accurate models of ExCell structures, and we suggest four possible applications for this system.2024TRTucker Rae-Grant et al.Carnegie Mellon UniversityShape-Changing Interfaces & Soft Robotic MaterialsShape-Changing Materials & 4D PrintingCHI
Morphing Matter for Teens: Research Processes as a Template for Cross-Disciplinary ActivitiesWe distilled a set of core practices within ``morphing matter'' research, derived a set of underlying skills and values, and developed these into a weekend workshop for high-school students. Participants in our workshop sampled a variety of research processes, including materials science and contextual design, incorporating curriculum-appropriate learning goals, toward an integrated pneumatic fashion project. We describe our approach, activity plan, and assessment as well as opportunities for research as an educational template to push beyond current ``STEAM''-based educational practices for cross-disciplinary engagement.2024LALea Albaugh et al.Carnegie Mellon UniversityShape-Changing Interfaces & Soft Robotic MaterialsSTEM Education & Science CommunicationCHI
Sustainflatable: Harvesting, Storing and Utilizing Ambient Energy for Pneumatic Morphing InterfacesWhile the majority of pneumatic interfaces are powered and controlled by traditional electric pumps and valves, alternative sustainable energy-harnessing technology has been attracting attention. This paper presents a novel solution to this challenge with the development of the Sustainflatable system, a self-sustaining pneumatic system that can harvest renewable energy sources such as wind, water flow, moisture, and sunlight, convert the energy into compressed air, and store it for later use in a programmable and intelligent way. The system is completely electronic-free, incorporating customized energy harvesting pumps, storage units with variable volume-pressure characteristics, and tailored valves that operate autonomously. Additionally, the paper provides a design tool to guide the development of the system and includes several environmental applications to showcase its capabilities.2023QLQiuyu Lu et al.Shape-Changing Interfaces & Soft Robotic MaterialsEcological Design & Green ComputingUIST
Dancing Delicacies: Designing Computational Food for Dynamic Dining Trajectories Contemporary human-food interaction design is often a technology-driven endeavor in which food’s materiality has been largely underexplored. Building on the concept of “computational food”, this paper explores the design of food as a material realization of computation through a material-centered approach. We engaged with a “Research through Design” exploration by designing a computational food system called “Dancing Delicacies”, which enables food items to be “programmed” and “reconfigured” within dynamic trajectories. Our practice led to a design framework resulting in four original dish designs. Our dishes aim to illustrate the richness of this new design space for computational food. Furthermore, through engaging with expert practitioners from the hospitality industry, we provide a first account of understanding the design of computational food for dynamic dining trajectories and its speculative use contexts in the industry. With this work, we hope to inspire researchers and designers to envision a new future of human-food interaction.2023JDJialin Deng et al.Laser Cutting & Digital FabricationFood Culture & Food InteractionDIS
FlexTure: Designing Dynamic and Configurable Surface FeaturesWe present FlexTure, a method for creating pop-up kirigami structures with a selectively bonded bilayer. These surfaces enable a new design space for accessible and rapid prototyping of dynamic surfaces. Using a flexible material selectively attached to a stretched substrate, we can create metamaterial surfaces that change texture. The tactile and aesthetic effects of these surfaces can be tuned through the configuration of cuts in the top layer of material, as well as the selection of the layers themselves. We provide a design workflow and accessible methods to achieve target effects and experimentally measure some mechanical properties of the surfaces. Several application concepts are offered along with a computational design tool.2023TJTate Johnson et al.Shape-Changing Interfaces & Soft Robotic MaterialsShape-Changing Materials & 4D PrintingDIS
Physically Situated Tools for Exploring a Grain Space in Computational Machine KnittingWe propose an approach to enabling exploratory creativity in digital fabrication through the use of grain spaces. In material processes, "grain" describes underlying physical properties like the orientation of cellulose fibers in wood that, in aggregate, affect fabrication concerns (such as directional cutting) and outcomes (such as axes of strength and visual effects). Extending this into the realm of computational fabrication, grain spaces define a curated set of mid-level material properties as well as the underlying low-level fabrication processes needed to produce them. We specify a grain space for computational brioche knitting, use it to guide our production of a set of hybrid digital/physical tools to support quick and playful exploration of this space's unique design affordances, and reflect on the role of such tools in creative practice.2023LALea Albaugh et al.Carnegie Mellon UniversityShape-Changing Interfaces & Soft Robotic MaterialsShape-Changing Materials & 4D PrintingCustomizable & Personalized ObjectsCHI
Fluidic Computation Kit: Towards Electronic-free Shape-changing InterfacesAlthough fluidic computation has been utilized to develop interactive devices in the field of Human-Computer Interaction (HCI), the limited computation complexity of previous work hinders the exploration of richer interaction modalities. Based on the Fluidic Computation Kit we developed, this paper explores how unconventional mechanical computing can be leveraged to design shape-changing interfaces that integrate input sensing, output, and complex computation. After introducing the design space enabled by the Kit, we explain how to design four types of elementary computational components and six categories of operators. We end by providing several application scenarios which illustrate the Fluidic Computation Kit’s potential to build sophisticated circuits (e.g., a parallel processor) for use in the field of HCI.2023QLQiuyu Lu et al.Carnegie Mellon UniversityShape-Changing Interfaces & Soft Robotic MaterialsShape-Changing Materials & 4D PrintingCHI
EpoMemory: Multi-state Shape Memory for Programmable Morphing InterfacesSmart shape-changing materials can be adapted to different usages, which have been leveraged for dynamic affordances and on-demand haptic feedback in HCI. However, the applicability of these materials is often bottlenecked by their complex fabrication and the challenge of programming localized and individually addressable responses. In this work, we propose a toolkit for designing and fabricating programmable morphing objects using off-the-shelf epoxies. Our method involves varying the crosslinker to epoxy resin ratio to control morphing temperatures from 40 ℃ to 90 ℃, either across different regions of a shape memory device or across devices. Functional components (e.g., conductive fabric, magnetic particles) are also incorporated with the epoxy for sensing and active reconfiguration. A toolbox of fabrication methods and a primitive design library are introduced to support design ideation and programmable morphing. Finally, we demonstrate application examples, including morphing toys, a shape-changing input device, and an active window shutter.2023KZKe Zhong et al.Carnegie Mellon UniversityShape-Changing Interfaces & Soft Robotic MaterialsShape-Changing Materials & 4D PrintingCHI
An Augmented Knitting Machine for Operational Assistance and Guided ImprovisationComputational mediation can unlock access to existing creative fabrication tools. By outfitting an otherwise purely mechanical hand-operated knitting machine with lightweight sensing capabilities, we produced a system which provides immediate feedback about the state and affordances of the underlying knitting machine. We describe our technical implementation, show modular interface applications which center the particular patterning capabilities of this kind of machine knitting, and discuss user experiences with interactive hybrid computational/mechanical systems.2023LALea Albaugh et al.Carnegie Mellon UniversityShape-Changing Interfaces & Soft Robotic MaterialsShape-Changing Materials & 4D PrintingCHI
Exploring Challenges and Opportunities to Support Designers in Learning to Co-create with AI-based Manufacturing Design ToolsAI-based design tools are proliferating in professional software to assist engineering and industrial designers in complex manufacturing and design tasks. These tools take on more agentic roles than traditional computer-aided design tools and are often portrayed as “co-creators.” Yet, working effectively with such systems requires different skills than working with complex CAD tools alone. To date, we know little about how engineering designers learn to work with AI-based design tools. In this study, we observed trained designers as they learned to work with two AI-based tools on a realistic design task. We find that designers face many challenges in learning to effectively co-create with current systems, including challenges in understanding and adjusting AI outputs and in communicating their design goals. Based on our findings, we highlight several design opportunities to better support designer-AI co-creation.2023FGFrederic Gmeiner et al.Carnegie Mellon UniversityGenerative AI (Text, Image, Music, Video)Human-LLM CollaborationCHI
Blue Ceramics: Co-designing Morphing Ceramics for Seagrass Meadow Restoration Seagrass meadows are twice as effective as forests at capturing and storing carbon, but human activities have caused them to gradually disappear over the last few decades. We take a nature-centered design approach on contextual inquiry and collaborative designs methods to consolidate knowledge from marine and material sciences to industrial design. This pictorial documents a dialogue between designers and scientists to co-create an ecological intervention using digital fabrication to manufacture morphing ceramics for seagrass meadow restoration.2022RARachel Ann Arredondo et al.Ecological Design & Green ComputingFood Culture & Food InteractionC&C
ElectriPop: Low-Cost, Shape-Changing Displays Using Electrostatically Inflated Mylar SheetsWe describe how sheets of metalized mylar can be cut and then “inflated” into complex 3D forms with electrostatic charge for use in digitally-controlled, shape-changing displays. This is achieved by placing and nesting various cuts, slits and holes such that mylar elements repel from one another to reach an equilibrium state. Importantly, our technique is compatible with industrial and hobbyist cutting processes, from die and laser cutting to handheld exacto-knives and scissors. Given that mylar film costs <$1 per m^2, we can create self-actuating 3D objects for just a few cents, opening new uses in low-cost consumer goods. We describe a design vocabulary, interactive simulation tool, fabrication guide, and proof-of-concept electrostatic actuation hardware. We detail our technique's performance metrics along with qualitative feedback from a design study. We present numerous examples generated using our pipeline to illustrate the rich creative potential of our method.2022CFCathy Mengying Fang et al.Carnegie Mellon UniversityShape-Changing Interfaces & Soft Robotic MaterialsShape-Changing Materials & 4D PrintingCHI
PneuMesh: Pneumatic-driven Truss-based Shape Changing SystemFrom cross-sea bridges to large-scale installations, truss structures have been known for their structural stability and shape complexity. In addition to the advantages of static trusses, truss structure has a large degree of freedom to change shape when equipped with rotatable joints and retractable beams. However, it is difficult to design a complex motion and build a control system for large numbers of trusses. In this paper, we present PneuMesh, a novel truss-based shape-changing system that is easy to design and build but still able to achieve a range of tasks. PneuMesh accomplishes this by introducing an air channel connection strategy and reconfigurable constraint design that drastically decreases the number of control units without losing the complexity of shape-changing. We develop a design tool with real-time simulation to assist users in designing the shape and motion of truss-based shape-changing robots and devices. A design session with 7 participants demonstrates that PneuMesh empowers users to design and build truss structures with a wide range of shapes and various functional motions.2022JGJianzhe Gu et al.Carnegie Mellon UniversityShape-Changing Interfaces & Soft Robotic MaterialsCHI
ReCompFig: Designing Dynamically Reconfigurable Kinematic Devices Using Compliant Mechanisms and Tensioning CablesFrom creating input devices to rendering tangible information, the field of HCI is interested in using kinematic mechanisms to create human-computer interfaces. Yet, due to fabrication and design challenges, it is often difficult to create kinematic devices that are compact and have multiple reconfigurable motional degrees of freedom (DOFs) depending on the interaction scenarios. In this work, we combine compliant mechanisms (CMs) with tensioning cables to create dynamically reconfigurable kinematic mechanisms. The devices’ kinematics (DOFs) is enabled and determined by the layout of bendable rods. The additional cables function as on-demand motion constraints that can dynamically lock or unlock the mechanism’s DOFs as they are tightened or loosened. We provide algorithms and a design tool prototype to help users design such kinematic devices. We also demonstrate various HCI use cases including a kinematic haptic display, a haptic proxy, and a multimodal input device.2022HYHumphrey Yang et al.Carnegie Mellon UniversityShape-Changing Interfaces & Soft Robotic MaterialsCHI
Hydrogel-based DIY Underwater Morphing ArtifactsHydrogels are versatile morphing materials that have recently been adopted for creating shape-changing interfaces. However, most shape-changing interfaces require advanced material synthesis, specialized lab settings for fabrication, and technical knowledge is needed to simulate their morphing behavior. To replicate such structures, these factors become a barrier for makers. Therefore, to democratize the creation of hydrogel-based morphing artifacts and to extend their design space in HCI, we propose a water-triggered morphing mechanism that utilizes the distance between adjacent hydrogel beads adhered on a thin substrate to control their bending angle. This paper describes the bending angle quantification experiments for creating a simulator, the process of developing a computational tool along with its user-friendly workflow and demonstrates kirigami and branch-based artifacts built with the tool. Using our method, anyone can easily design and fabricate custom morphing structures.2021HJHarshika Jain et al.Shape-Changing Interfaces & Soft Robotic MaterialsDesktop 3D Printing & Personal FabricationShape-Changing Materials & 4D PrintingDIS
ShrinCage: 4D Printing Accessories that Self-Adapt3D printing technology makes Do-It-Yourself and reforming everyday objects a reality. However, designing and fabricating attachments that can seamlessly adapt existing objects to extended functionality is a laborious process, which requires accurate measuring, modeling, manufacturing, and assembly. This paper presents ShrinCage, a 4D printing system that allows novices to easily create shrinkable adaptations to fit and fasten existing objects. Specifically, the design tool presented in this work aid in the design of attachment that adapts to irregular morphologies, which accommodates the variations in measurements and fabrication, subsequently simplifying the modeling and assembly processes. We further conduct mechanical tests and user studies to evaluate the availability and feasibility of this method. Numerous application examples created by ShrinCage prove that it can be adopted by aesthetic modification, assistive technology, repair, upcycling, and augmented 3D printing.2021LSLingyun Sun et al.Zhejiang UniversityShape-Changing Interfaces & Soft Robotic MaterialsShape-Changing Materials & 4D PrintingCHI
FlexTruss: A Computational Threading Method for Multi-material, Multi-form and Multi-use Prototyping3D printing, as a rapid prototyping technique, usually fabricates objects that are difficult to modify physically. This paper presents FlexTruss, a design and construction pipeline based on the assembly of modularized truss-shaped objects fabricated with conventional 3D printers and assembled by threading. To create an end-to-end system, a parametric design tool with an optimal Euler path calculation method is developed, which can support both inverse and forward design workflow and multi-material construction of modular parts. In addition, the assembly of truss modules by threading is evaluated with a series of application cases to demonstrate the affordance of FlexTruss. We believe that FlexTruss extends the design space of 3D printing beyond typically hard and fixed forms, and it will provide new capabilities for designers and researchers to explore the use of such flexible truss structures in human-object interaction.2021LSLingyun Sun et al.Zhejiang UniversityDesktop 3D Printing & Personal FabricationLaser Cutting & Digital FabricationCHI
Freeform Fabrication of Fluidic Edible MaterialsFrom providing nutrition to being social platforms, food plays an essential role in our daily lives and cultures. In HCI, we are interested in using food as an interaction medium and a context of personal fabrication. Yet, the design space of available food printing methods is limited to shapes with minimal overhangs and materials that have a paste-like consistency. In this work, we seek to expand this design space by adapting support bath-assisted printing to the food context. The bath scaffolds the embedded materials and preserves shapes during the printing processes, enabling us to create freeform food with fluid-like materials. We provide users guidelines for choosing the appropriate support bath type and processing methods depending on the printing material’s properties. A design tool suite and application examples, including confectionery arts, 4D printed food, and edible displays are also offered to demonstrate the enabled interaction design space.2021HYHumphrey Yang et al.Carnegie Mellon UniversityShape-Changing Materials & 4D PrintingFood Culture & Food InteractionCHI
Personal Jacquard WeavingWe present an inexpensive tabletop loom that offers fully computational patterning while maintaining the flexibility of handweaving. Our loom can be assembled for under US\$200 with 3D printed parts, and it can be controlled straightforwardly over USB. Our loom is explicitly a \emph{hand} loom: that is, a weaver is required to operate the weaving process and may mediate row-by-row patterning and material specifics like yarn tension. This approach combines the flexibility of fully analog handweaving with the computational affordances of digital fabrication: it enables the incorporation of special techniques and materials, as well as allowing for the possibility of computational and creative interventions in the weaving process itself -- for skill-building, for interactive design, or for creative reflection. We describe the mechanical and electronic implementation of our loom and show examples of its use for personal fabrication.2021LALea Albaugh et al.Carnegie Mellon UniversityDesktop 3D Printing & Personal FabricationCustomizable & Personalized ObjectsCHI