Ken Nakagaki

LineFORM: Actuated Curve Interfaces for Display, Interaction, and Constraint

In this paper we explore the design space of actuated curve interfaces, a novel class of shape changing-interfaces. Physical curves have several interesting characteristics from the perspective of interaction design: they have a variety of inherent affordances; they can easily represent abstract data; and they can act as constraints, boundaries, or borderlines. By utilizing such aspects of lines and curves, together with the added capability of shape-change, new possibilities for display, interaction and body constraint are possible. In order to investigate these possibilities we have implemented two actuated curve interfaces at different scales. LineFORM, our implementation, inspired by serpentine robotics, is comprised of a series chain of 1DOF servo motors with integrated sensors for direct manipulation. To motivate this work we present various applications such as shape changing cords, mobiles, body constraints, and data manipulation tools.

Materiable: Rendering Dynamic Material Properties in Response to Direct Physical Touch with Shape Changing Interfaces

Shape changing interfaces give physical shapes to digital data so that users can feel and manipulate data with their hands and bodies. However, physical objects in our daily life not only have shape but also various material properties. In this paper, we propose an interaction technique to represent material properties using shape changing interfaces. Specifically, by integrating the multi-modal sensation techniques of haptics, our approach builds a perceptive model for the properties of deformable materials in response to direct manipulation. As a proof-of-concept prototype, we developed preliminary physics algorithms running on pin-based shape displays. The system can create computationally variable properties of deformable materials that are visually and physically perceivable. In our experiments, users identify three deformable material properties (flexibility, elasticity and viscosity) through direct touch interaction with the shape display and its dynamic movements. In this paper, we describe interaction techniques, our implementation, future applications and evaluation on how users differentiate between specific properties of our system. Our research shows that shape changing interfaces can go beyond simply displaying shape allowing for rich embodied interaction and perceptions of rendered materials with the hands and body.

ChainFORM: A Linear Integrated Modular Hardware System for Shape Changing Interfaces

This paper presents ChainFORM: a linear, modular, actuated hardware system as a novel type of shape changing interface. Using rich sensing and actuation capability, this modular hardware system allows users to construct and customize a wide range of interactive applications. Inspired by modular and serpentine robotics, our prototype comprises identical modules that connect in a chain. Modules are equipped with rich input and output capability: touch detection on multiple surfaces, angular detection, visual output, and motor actuation. Each module includes a servo motor wrapped with a flexible circuit board with an embedded microcontroller. Leveraging the modular functionality, we introduce novel interaction capability with shape changing interfaces, such as rearranging the shape/configuration and attaching to passive objects and bodies. To demonstrate the capability and interaction design space of ChainFORM, we implemented a variety of applications for both computer interfaces and hands-on prototyping tools.

Linked-Stick: Conveying a Physical Experience using a Shape-Shifting Stick

We use sticks as tools for a variety of activities, everything from conducting music to playing sports or even engage in combat. However, these experiences are inherently physical and are poorly conveyed through traditional digital mediums such as video. Linked-Stick is a shape-changing stick that can mirror the movements of another persons stick-shape tool. We explore how this can be used to experience and learn music, sports and fiction in a more authentic manner. Our work attempts to expand the ways in which we interact with and learn to use tools.

TRANSFORM as Adaptive and Dynamic Furniture

TRANSFORM is an exploration of how shape display technology can be integrated into our everyday lives as interactive, shape changing furniture. These interfaces not only serve as traditional computing devices, but also support a variety of physical activities. By creating shapes on demand or by moving objects around, TRANSFORM changes the ergonomics, functionality and aesthetic dimensions of furniture. The video depicts a story with various scenarios of how TRANSFORM shape shifts to support a variety of use cases in the home and in the work environment: It holds and moves objects like fruits, game tokens, office supplies and tablets; creates dividers on demand; and generates interactive sculptures to convey messages and audio.

HydroMorph: Shape Changing Water Membrane for Display and Interaction

HydroMorph is an interactive display based on shapes formed by a stream of water. Inspired by the membrane formed when a water stream hits a smooth surface (e.g. a spoon), we developed a system that dynamically controls the shape of a water membrane. This paper describes the design and implementation of our system, explores a design space of interactions around water shapes, and proposes a set of user scenarios in applications across scales, from the faucet to the fountain. Through this work, we look to to enrich our interaction with water, an everyday material, with the added dimension of transformation.

Force Jacket: Pneumatically-Actuated Jacket for Embodied Haptic Experiences

Immersive experiences seek to engage the full sensory system in ways that words, pictures, or touch alone cannot. With respect to the haptic system, however, physical feedback has been provided primarily with handheld tactile experiences or vibration-based designs, largely ignoring both pressure receptors and the full upper-body area as conduits for expressing meaning that is consistent with sight and sound. We extend the potential for immersion along these dimensions with the Force Jacket, a novel array of pneumatically-actuated airbags and force sensors that provide precisely directed force and high frequency vibrations to the upper body. We describe the pneumatic hardware and force control algorithms, user studies to verify perception of airbag location and pressure magnitude, and subsequent studies to define full-torso, pressure and vibration-based feel effects such as punch, hug, and snake moving across the body. We also discuss the use of those effects in prototype virtual reality applications.

Programmable Droplets for Interaction

We present a design exploration on how water based droplets in our everyday environment can become interactive elements. For this exploration, we use electrowetting-on-dielectric (EWOD) technology as the underlying mechanism to precisely control motion of droplets. EWOD technology provides a means to precisely transport, merge, mix and split water based droplets and has been widely explored for automating biological experiments in industrial 1 and research settings 2. More recently, it has been explored for DIY Biology applications. In our exploration we integrate EWOD devices into a range of everyday objects and scenarios to show how programmable water droplets can be used as information displays, interaction medium for painting and personal communication.

AnimaStage: Hands-on Animated Craft on Pin-based Shape Displays

In this paper, we present AnimaStage: a hands-on animated craft platform based on an actuated stage. Utilizing a pin-based shape changing display, users can animate their crafts made from various materials. Through this system, we intend to lower the barrier for artists and designers to create actuated objects and to contribute to interaction design using shape changing interfaces for inter-material interactions. We introduce a three-phase design process for AnimaStage with examples of animated crafts. We implemented the system with several control modalities that allow users to manipulate the motion of the crafts so that they could easily explore their desired motion through an iterative process. To complement the animated crafts, dynamic landscapes can also be rendered. We conducted a user study to observe the subject and process by which people make crafts using AnimaStage. We invited participants with different backgrounds to design and create crafts using multiple materials and craft techniques. A variety of outcomes and application spaces were found in this study.

Designing Line-Based Shape-Changing Interfaces

This article starts with an overview of work on shape-changing line interfaces in the field of HCI, including the authors’ previous work on actuated-line interfaces, LineFORM and ChainFORM. Related research from other fields, such as robotics and material science, are also introduced. Then, several potential implementation methods are compared and discussed in depth with regards to their potential for future research and applications. The authors also investigate the interaction design space around actuated line interfaces, categorized into four groups: physical display, tangible interaction, constraints, and customization. Leveraging this design space, they present potential applications and demonstrate their use with the LineFORM and ChainFORM prototypes. Envisioning a future where shape-changing lines are woven into daily life, this article aims to explore and initiate a broad research space around line-based shape-changing interfaces and to encourage future researchers and designers to investigate these novel directions. This article is part of a special issue on shape-changing interfaces.