Abstract

Shape-changing User Interfaces attract growing interest in Human-Computer Interaction. Modular robotics offer a great opportunity for their implementation. However, the current theoretical and technical advances of modular robotics are fragmented and little centered on the user. To unify existing work and center future research on the user, we perform a systematic literature review enabling us to build a unifying space for the design of modular shape-changing user interfaces.Our aim is to bridge the gap between HCI and robotics. We relate properties of different domains and identify inconsistencies to structure the design space. Towards this aim, we conduct a thorough cross-disciplinary survey to propose: 1) a set of design properties at the scale of the interface (macro-scale) and at the scale of the modules (micro-scale) and 2) the impact of these properties on each other. This paper can be used to describe and compare existing modular shape-changing UIs and generate new design ideas by building upon knowledge from robotics and HCI.
Supplemental Material
Available for Download
We provide the corpus that we used to define our properties in the attached CSV file.
- Reem J. Alattas, Sarosh Patel, and Tarek M. Sobh. 2019. Evolutionary Modular Robotics: Survey and Analysis. , Vol. 95, 3 (2019), 815--828. https://doi.org/10.1007/s10846-018-0902--9Google Scholar
- Jason Alexander, Anne Roudaut, Jürgen Steimle, Kasper Hornbæk, Miguel Bruns Alonso, Sean Follmer, and Timothy Merritt. 2018. Grand Challenges in Shape-Changing Interface Research. In the CHI 2018 Conference . New York, New York, USA, 1--14. https://doi.org/10.1145/3173574.3173873 Google Scholar
Digital Library
- Apple. 2020. iPad 10.2-inch - Technical Specifications . https://www.apple.com/ipad-10.2/specs/ Library Catalog: www.apple.com.Google Scholar
- Nora Ayanian, Paul J. White, A´da´m Ha´la´sz, Mark Yim, and Vijay Kumar. 2008. Stochastic Control for Self-Assembly of XBots . In Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B (Brooklyn, New York, USA, 2008-01-01). ASMEDC, 1169--1176. https://doi.org/10.1115/DETC2008--49535Google Scholar
- Christian Bastien and Dominique L Scapin. 1993. Ergonomic criteria for the evaluation of human-computer interfaces. (1993), 83.Google Scholar
- Michel Beaudouin-Lafon. 2004. Designing Interaction, Not Interfaces. In Proceedings of the Working Conference on Advanced Visual Interfaces (Gallipoli, Italy) (AVI '04). Association for Computing Machinery, New York, NY, USA, 15--22. https://doi.org/10.1145/989863.989865 Google Scholar
Digital Library
- Julien Bourgeois. 2018. Programmable matter: forming objects with modular robots. In 14th International Symposium on Distributed Autonomous Robotic Systems (2018). Boulder, CO, United States.Google Scholar
- J. Bourgeois and S. C. Goldstein. 2015. Distributed Intelligent MEMS: Progresses and Perspectives. IEEE Systems Journal , Vol. 9, 3 (Sep. 2015), 1057--1068. https://doi.org/10.1109/JSYST.2013.2281124Google Scholar
Cross Ref
- Julien Bourgeois, Beno^it Piranda, André Naz, Nicolas Boillot, Hakim Mabed, Dominique Dhoutaut, Thadeu Tucci, and Hicham Lakhlef. 2016. Programmable matter as a cyber-physical conjugation. SMC (2016). https://dblp.org/rec/conf/smc/BourgeoisPNBMDT16Google Scholar
- Sean Braley, Calvin Rubens, Timothy R. Merritt, and Roel Vertegaal. 2018. GridDrones: A Self-Levitating Physical Voxel Lattice for 3D Surface Deformations. In Extended Abstracts of the 2018 CHI Conference on Human Factors in Computing Systems - CHI '18 (Montreal QC, Canada, 2018). ACM Press, 1--4. https://doi.org/10.1145/3170427.3186477 Google Scholar
Digital Library
- Manuele Brambilla, Arne Brutschy, Marco Dorigo, and Mauro Birattari. 2014. Property-Driven Design for Robot Swarms: A Design Method Based on Prescriptive Modeling and Model Checking. , Vol. 9, 4 (2014), 17:1--17:28. https://doi.org/10.1145/2700318 Google Scholar
Digital Library
- Byoung Kwon An. 2008. Em-cube: cube-shaped, self-reconfigurable robots sliding on structure surfaces. In 2008 IEEE International Conference on Robotics and Automation (Pasadena, CA, USA, 2008-05). IEEE, 3149--3155. https://doi.org/10.1109/ROBOT.2008.4543690Google Scholar
- C J Cascio and K Sathian. 2001. Temporal cues contribute to tactile perception of roughness. The Journal of neuroscience : the official journal of the Society for Neuroscience , Vol. 21, 14 (July 2001), 5289--5296. http://eutils.ncbi.nlm.nih.gov/entrez/eutils/elink.fcgi?dbfrom=pubmed&id=11438604&retmode=ref&cmd=prlinksGoogle Scholar
Cross Ref
- Marcelo Coelho and Jamie Zigelbaum. 2011. Shape-changing interfaces. , Vol. 15, 2 (2011), 161--173. https://doi.org/10.1007/s00779-010-0311-y Google Scholar
Digital Library
- Céline Coutrix and Laurence Nigay. 2011. OP: A Novel Programming Model for Integrated Design and Prototyping of Mixed Objects. In Human-Computer Interaction -- INTERACT 2011 , , Pedro Campos, Nicholas Graham, Joaquim Jorge, Nuno Nunes, Philippe Palanque, and Marco Winckler (Eds.). Springer Berlin Heidelberg, Berlin, Heidelberg, 54--72. Google Scholar
Digital Library
- J. Davey, N. Kwok , and M. Yim. 2012. Emulating self-reconfigurable robots - design of the SMORES system. In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems. 4464--4469. https://doi.org/10.1109/IROS.2012.6385845Google Scholar
Cross Ref
- Felecia Davis, Asta Roseway, Erin Carroll, and Mary Czerwinski. 2013. Actuating mood: design of the textile mirror. In Proceedings of the 7th International Conference on Tangible, Embedded and Embodied Interaction - TEI '13 (Barcelona, Spain, 2013). ACM Press, 99. https://doi.org/10.1145/2460625.2460640 Google Scholar
Digital Library
- Marco Dorigo, Dario Floreano, Luca Maria Gambardella, Francesco Mondada, Stefano Nolfi, Tarek Baaboura, Mauro Birattari, Michael Bonani, Manuele Brambilla, Arne Brutschy, Daniel Burnier, Alexandre Campo, Anders Lyhne Christensen, Antal Decugniere, Gianni Di Caro, Frederick Ducatelle, Eliseo Ferrante, Alexander Forster, Javier Martinez Gonzales, Jerome Guzzi, Valentin Longchamp, Stephane Magnenat, Nithin Mathews, Marco Montes de Oca, Rehan O'Grady, Carlo Pinciroli, Giovanni Pini, Philippe Retornaz, James Roberts, Valerio Sperati, Timothy Stirling, Alessandro Stranieri, Thomas Stutzle, Vito Trianni, Elio Tuci, Ali Emre Turgut, and Florian Vaussard. 2013. Swarmanoid: A Novel Concept for the Study of Heterogeneous Robotic Swarms. , Vol. 20, 4 (2013), 60--71. https://doi.org/10.1109/MRA.2013.2252996Google Scholar
- Frederick Ducatelle, Gianni A. Di Caro, and Luca M. Gambardella. 2010. Cooperative self-organization in a heterogeneous swarm robotic system. In Proceedings of the 12th annual conference on Genetic and evolutionary computation (New York, NY, USA, 2010-07-07) (GECCO '10). Association for Computing Machinery, 87--94. https://doi.org/10.1145/1830483.1830501 Google Scholar
Digital Library
- Gregory Dudek, Michael Jenkin, Evangelos Milios, and David Wilkes. 1993. A taxonomy for swarm robots. In Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'93) , Vol. 1. IEEE , 441--447.Google Scholar
Cross Ref
- George W. Fitzmaurice, Hiroshi Ishii, and William A. S. Buxton. 1995. Bricks: Laying the Foundations for Graspable User Interfaces. In Proceedings of the SIGCHI Conference on Human Factors in Computing Systems (Denver, Colorado, USA) (CHI '95). ACM Press/Addison-Wesley Publishing Co., USA, 442--449. https://doi.org/10.1145/223904.223964 Google Scholar
Digital Library
- Sean Follmer, Daniel Leithinger, Alex Olwal, Akimitsu Hogge, and Hiroshi Ishii. 2013. inFORM: dynamic physical affordances and constraints through shape and object actuation. In UIST '13: Proceedings of the 26th annual ACM symposium on User interface software and technology . ACM, New York, New York, USA, 417--426. https://doi.org/10.1145/2501988.2502032 Google Scholar
Digital Library
- Toshio Fukuda and Yoshio Kawauchi. 1990. Cellular robotic system (CEBOT) as one of the realization of self-organizing intelligent universal manipulator. In Proceedings of the 1990 IEEE International Conference on Robotics and Automation, Cincinnati, Ohio, USA, May 13--18, 1990. 662--667. https://doi.org/10.1109/ROBOT.1990.126059Google Scholar
Cross Ref
- Marwan Gharbia, Alice Chang-Richards, Yuqian Lu, Ray Y. Zhong, and Heng Li. 2020. Robotic technologies for on-site building construction: A systematic review. Journal of Building Engineering , Vol. 32 (Nov. 2020), 101584. https://doi.org/10.1016/j.jobe.2020.101584Google Scholar
Cross Ref
- Kyle Gilpin, Ara Knaian, and Daniela Rus. 2010. Robot pebbles: One centimeter modules for programmable matter through self-disassembly. In 2010 IEEE International Conference on Robotics and Automation (Anchorage, AK, 2010-05). IEEE , 2485--2492. https://doi.org/10.1109/ROBOT.2010.5509817Google Scholar
Cross Ref
- Kyle Gilpin, Keith Kotay, Daniela Rus, and Iuliu Vasilescu. 2008. Miche: Modular Shape Formation by Self-Disassembly. , Vol. 27, 3 (2008), 345--372. https://doi.org/10.1177/0278364907085557 Google Scholar
Digital Library
- Alix Goguey, Cameron Steer, Andrés Lucero, Laurence Nigay, Deepak Ranjan Sahoo, Céline Coutrix, Anne Roudaut, Sriram Subramanian, Yutaka Tokuda, Timothy Neate, and et al. 2019. PickCells: A Physically Reconfigurable Cell-Composed Touchscreen. In Proceedings of the 2019 CHI Conference on Human Factors in Computing Systems (Glasgow, Scotland Uk) (CHI '19). Association for Computing Machinery, New York, NY, USA, Article Paper 273, bibinfonumpages14 pages. https://doi.org/10.1145/3290605.3300503 Google Scholar
Digital Library
- Antonio Gomes, Calvin Rubens, Sean Braley, and Roel Vertegaal. 2016. BitDrones: Towards Using 3D Nanocopter Displays As Interactive Self-Levitating Programmable Matter. In Proceedings of the 2016 CHI Conference on Human Factors in Computing Systems (San Jose, California, USA) (CHI '16). ACM, New York, NY, USA, 770--780. https://doi.org/10.1145/2858036.2858519 Google Scholar
Digital Library
- Chase Greenhagen, Timothy Krentz, Janelle Wigal, and Sami Khorbotly. 2016. A real-life robotic application of the particle swarm optimization algorithm. In 2016 Swarm/Human Blended Intelligence Workshop (SHBI) (2016--10). 1--5. https://doi.org/10.1109/SHBI.2016.7780281Google Scholar
Cross Ref
- Roderich Groß and Marco Dorigo. 2008. Self-Assembly at the Macroscopic Scale. , Vol. 96 (2008), 1490--1508. https://doi.org/10.1109/JPROC.2008.927352Google Scholar
Cross Ref
- Grünbaum. 1994. Uniform tilings of 3-space. Geombinatorics , Vol. 4 (1994). Issue 2.Google Scholar
- Bahar Haghighat, Emmanuel Droz, and Alcherio Martinoli. 2015. Lily: A miniature floating robotic platform for programmable stochastic self-assembly. In 2015 IEEE International Conference on Robotics and Automation (ICRA) (2015-05). 1941--1948. https://doi.org/10.1109/ICRA.2015.7139452 ISSN: 1050--4729.Google Scholar
Cross Ref
- Takefumi Hiraki, Shogo Fukushima, and Takeshi Naemura. 2016. Phygital field: an integrated field with a swarm of physical robots and digital images. In SIGGRAPH ASIA 2016 Emerging Technologies (New York, NY, USA, 2016--11--28) (SA '16). Association for Computing Machinery, 1--2. https://doi.org/10.1145/2988240.2988242 Google Scholar
Digital Library
- David Holman and Roel Vertegaal. 2008. Organic user interfaces: designing computers in any way, shape, or form. , Vol. 51, 6 (2008), 48. https://doi.org/10.1145/1349026.1349037 Google Scholar
Digital Library
- Hongxing Wei, Yingpeng Cai, Haiyuan Li, Dezhong Li, and Tianmiao Wang. 2010. Sambot: A self-assembly modular robot for swarm robot. In 2010 IEEE International Conference on Robotics and Automation (Anchorage, AK, 2010-05). IEEE, 66--71. https://doi.org/10.1109/ROBOT.2010.5509214Google Scholar
- J.R. Hook and H.E. Hall. 1991. Solid State Physics, 2nd Edition .Wiley.Google Scholar
- K. Hosokawa, T. Tsujimori, T. Fujii, H. Kaetsu, H. Asama, Y. Kuroda, and I. Endo. 1998. Self-organizing collective robots with morphogenesis in a vertical plane. In Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) (1998-05), Vol. 4. 2858--2863 vol.4. https://doi.org/10.1109/ROBOT.1998.680616 ISSN: 1050--4729.Google Scholar
Cross Ref
- Hiroshi Ishii, Dávid Lakatos, Leonardo Bonanni, and Jean-Baptiste Labrune. 2012. Radical Atoms: Beyond Tangible Bits, toward Transformable Materials. Interactions , Vol. 19, 1 (Jan. 2012), 38--51. https://doi.org/10.1145/2065327.2065337 Google Scholar
Digital Library
- Yunyao Jiang and Yaning Li. 2017. 3D Printed Chiral Cellular Solids with Amplified Auxetic Effects Due to Elevated Internal Rotation. Advanced Engineering Materials , Vol. 19, 2 (2017), 1600609. https://doi.org/10.1002/adem.201600609Google Scholar
Cross Ref
- Akiya Kamimura, Eiichi Yoshida, Satoshi Murata, Haruhisa Kurokawa, Kohji Tomita, and Shigeru Kokaji. 2002. A Self-Reconfigurable Modular Robot (MTRAN) - Hardware and Motion Planning Software -. In Distributed Autonomous Robotic Systems 5 (Tokyo, 2002), Hajime Asama, Tamio Arai, Toshio Fukuda, and Tsutomu Hasegawa (Eds.). Springer Japan, 17--26. https://doi.org/10.1007/978--4--431--65941--9_3Google Scholar
Cross Ref
- M. E. Karagozler, J. D. Campbell, G. K. Fedder, S. C. Goldstein, M. P. Weller, and B. W. Yoon. 2007. Electrostatic latching for inter-module adhesion, power transfer, and communication in modular robots. In 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (2007--10). 2779--2786. https://doi.org/10.1109/IROS.2007.4399492 ISSN: 2153-0866.Google Scholar
Cross Ref
- Mustafa E Karagozler, Brian Kirby, Wei Jie Lee, Eugene Marinelli, Tze Chang Ng, Michael P Weller, and Seth C Goldstein. 2006. Ultralight Modular Robotic Building Blocks for the Rapid Deployment of Planetary Outposts. (2006), 15.Google Scholar
- Hamidreza Karbasi, Jan Paul Huissoon, and Amir Khajepour. 2004. Uni-drive modular robots: theory, design, and experiments. , Vol. 39, 2 (2004), 183--200. https://doi.org/10.1016/S0094--114X(03)00113--7Google Scholar
- Hyunyoung Kim, Céline Coutrix, and Anne Roudaut. 2018. MorpheesGoogle Scholar
- : Studying Everyday Reconfigurable Objects for the Design and Taxonomy of Reconfigurable UIs. In CHI '18. ACM Press, New York, New York, USA, 1--14. https://doi.org/10.1145/3173574.3174193 Google Scholar
Digital Library
- Hyunyoung Kim, Céline Coutrix, and Anne Roudaut. 2019 a. KnobSlider: Design of a Shape-Changing Parameter Control UI and Study of User Preferences on Its Speed and Tangibility. , Vol. 6 (2019), 79. https://doi.org/10.3389/frobt.2019.00079Google Scholar
- Hyunyoung Kim, Patr'icia Deud Guimar aes, Céline Coutrix, and Anne Roudaut. 2019 b. ExpanDial: Designing a Shape-Changing Dial. In Proceedings of the 2019 on Designing Interactive Systems Conference (San Diego, CA, USA) (DIS '19). Association for Computing Machinery, New York, NY, USA, 949--961. https://doi.org/10.1145/3322276.3322283 Google Scholar
Digital Library
- Lawrence H Kim, Daniel S Drew, Veronika Domova, and Sean Follmer. 2020. User-defined Swarm Robot Control. (2020), 13.Google Scholar
- Lawrence H. Kim and Sean Follmer. 2017. UbiSwarm: Ubiquitous Robotic Interfaces and Investigation of Abstract Motion as a Display. , Vol. 1, 3 (2017), 1--20. https://doi.org/10.1145/3130931 Google Scholar
Digital Library
- Lawrence H. Kim and Sean Follmer. 2019. SwarmHaptics: Haptic Display with Swarm Robots. In Proceedings of the 2019 CHI Conference on Human Factors in Computing Systems - CHI '19 (Glasgow, Scotland Uk, 2019). ACM Press, 1--13. https://doi.org/10.1145/3290605.3300918 Google Scholar
Digital Library
- Brian T. Kirby, Michael Ashley-Rollman, and Seth Copen Goldstein. 2011. Blinky blocks: a physical ensemble programming platform. In Proceedings of the 2011 annual conference extended abstracts on Human factors in computing systems - CHI EA '11 (Vancouver, BC, Canada, 2011). ACM Press, 1111. https://doi.org/10.1145/1979742.1979712 Google Scholar
Digital Library
- Kurt Konolige, Charlie Ortiz, Regis Vincent, Benoit Morisset, Andrew Agno, Michael Eriksen, Dieter Fox, Benson Limketkai, Jonathan Ko, Benjamin Stewart, and Dirk Schulz. 2004. Centibots: Very Large Scale Distributed Robotic Teams. In Building the Information Society , , Renè Jacquart (Ed.). Vol. 156. Springer US , 761--761. https://doi.org/10.1007/978--1--4020--8157--6_84 Series Title: IFIP International Federation for Information Processing.Google Scholar
- K.D. Kotay and D.L. Rus. 1998. Motion synthesis for the self-reconfiguring molecule. In Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190) (Victoria, BC, Canada, 1998), Vol. 2. IEEE , 843--851. https://doi.org/10.1109/IROS.1998.727304Google Scholar
Cross Ref
- H. Kurokawa, E. Yoshida, K. Tomita, A. Kamimura, S. Murata, and S. Kokaji. 2006. Self-reconfigurable M-TRAN structures and walker generation. , Vol. 54, 2 (2006), 142--149. https://doi.org/10.1016/j.robot.2005.09.023Google Scholar
- Mathieu Le Goc, Lawrence H Kim, Ali Parsaei, Jean-Daniel Fekete, Pierre Dragicevic, and Sean Follmer. 2016. Zooids: Building Blocks for Swarm User Interfaces. In UIST'16. 1--13. https://doi.org/10.1145/2984511.2984547 Google Scholar
Digital Library
- Dazhai Li, Hualei Fu, and Wei Wang. 2008. Ultrasonic based autonomous docking on plane for mobile robot. In 2008 IEEE International Conference on Automation and Logistics (2008-09). 1396--1401. https://doi.org/10.1109/ICAL.2008.4636372 ISSN: 2161--816X.Google Scholar
- Alessandro Liberati, Douglas G. Altman, Jennifer Tetzlaff, Cynthia Mulrow, Peter C. Gøtzsche, John P. A. Ioannidis, Mike Clarke, P. J. Devereaux, Jos Kleijnen, and David Moher. 2009. The PRISMA Statement for Reporting Systematic Reviews and Meta-Analyses of Studies That Evaluate Health Care Interventions: Explanation and Elaboration. , Vol. 6, 7 (2009), e1000100. https://doi.org/10.1371/journal.pmed.1000100Google Scholar
- Sara Ljungblad and Lars Erik Holmquist. 2005. Designing robot applications for everyday environments. In Proceedings of the 2005 joint conference on Smart objects and ambient intelligence: innovative context-aware services: usages and technologies (New York, NY, USA, 2005--10--12) (sOc-EUSAI '05). Association for Computing Machinery, 65--68. https://doi.org/10.1145/1107548.1107571 Google Scholar
Digital Library
- Pedro Lopes, Patrik Jonell, and Patrick Baudisch. 2015. AffordanceGoogle Scholar
- : Allowing Objects to Communicate Dynamic Use. In Proceedings of the 33rd Annual ACM Conference on Human Factors in Computing Systems (Seoul, Republic of Korea, 2015-04--18) (CHI '15). Association for Computing Machinery, 2515--2524. https://doi.org/10.1145/2702123.2702128 Google Scholar
Digital Library
- Henrik Hautop Lund. 2011. Anybody, anywhere, anytime - Robotics with a social impact through a building block approach. In Advanced Robotics and its Social Impacts. 2--7. https://doi.org/10.1109/ARSO.2011.6301970 ISSN: 2162--7576.Google Scholar
- Henrik Hautop Lund. 2014. Lessons Learned in Designing User-Configurable Modular Robotics. In Robot Intelligence Technology and Applications 2: Results from the 2nd International Conference on Robot Intelligence Technology and Applications , , Jong-Hwan Kim, Eric T . Matson, Hyun Myung, Peter Xu, and Fakhri Karray (Eds.). Springer International Publishing, 279--286. https://doi.org/10.1007/978--3--319-05582--4_24Google Scholar
- David Merrill, Jeevan J Kalanithi, and Pattie Maes. 2007. Siftables - towards sensor network user interfaces.. In Tangible and Embedded Interaction . https://dblp.org/rec/conf/tei/MerrillKM07 Google Scholar
Digital Library
- G. Michelitsch, J. Williams, M. Osen, B. Jimenez, and S. Rapp. 2004. Haptic Chameleon: A New Concept of Shape-Changing User Interface Controls with Force Feedback. In CHI '04 Extended Abstracts on Human Factors in Computing Systems (Vienna, Austria) (CHI EA '04). Association for Computing Machinery, New York, NY, USA, 1305--1308. https://doi.org/10.1145/985921.986050 Google Scholar
Digital Library
- Shuhei Miyashita, Max Lungarella, and Rolf Pfeifer. 2009. Tribolon: Water-Based Self-Assembly Robots. In Artificial Life Models in Hardware , , Andrew Adamatzky and Maciej Komosinski (Eds.). Springer, 161--184. https://doi.org/10.1007/978--1--84882--530--7_8Google Scholar
- Rico Moeckel, Cyril Jaquier, Kevin Drapel, Elmar Dittrich, Andres Upegui, and Auke Jan Ijspeert. 2006. Exploring adaptive locomotion with YaMoR, a novel autonomous modular robot with Bluetooth interface. , Vol. 33, 4 (2006), 285--290. https://doi.org/10.1108/01439910610667908Google Scholar
Cross Ref
- Francesco Mondada, Giovanni C. Pettinaro, Andre Guignard, Ivo W. Kwee, Dario Floreano, Jean-Louis Deneubourg, Stefano Nolfi, Luca Maria Gambardella, and Marco Dorigo. 2004. Swarm-Bot: A New Distributed Robotic Concept. , Vol. 17, 2 (2004), 193--221. https://doi.org/10.1023/B:AURO.0000033972.50769.1c Google Scholar
Digital Library
- S. Murata, H. Kurokawa, E. Yoshida, K. Tomita, and S. Kokaji. 1998. A 3-D self-reconfigurable structure. In Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) (Leuven, Belgium), Vol. 1. IEEE , 432--439. https://doi.org/10.1109/ROBOT.1998.677012Google Scholar
Cross Ref
- Satoshi Murata, Eiichi Yoshida, Akiya Kamimura, Kohji Tomita, Haruhisa Kurokawa, and Shigeru Kokaji. 2003. Homogeneous Distributed Mechanical Systems. In Morpho-functional Machines: The New Species (Tokyo), Fumio Hara and Rolf Pfeifer (Eds.). Springer Japan, 167--193. https://doi.org/10.1007/978--4--431--67869--4_9Google Scholar
- Satoshi Murata, Eiichi Yoshida, Haruhisa Kurokawa, Kohji Tomita, and Shigeru Kokaji. 2001. Concept of self-reconfigurable modular robotic system. , Vol. 15, 4 (2001), 383--387. https://doi.org/10.1016/S0954--1810(01)00024--3Google Scholar
Cross Ref
- Ken Nakagaki, Artem Dementyev, Sean Follmer, Joseph A. Paradiso, and Hiroshi Ishii. 2016. ChainFORM: A Linear Integrated Modular Hardware System for Shape Changing Interfaces. In Proceedings of the 29th Annual Symposium on User Interface Software and Technology (Tokyo, Japan, 2016--10--16) (UIST '16). Association for Computing Machinery, 87--96. https://doi.org/10.1145/2984511.2984587 Google Scholar
Digital Library
- K Nakagaki, S Follmer, and H Ishii. 2015. LineFORM: Actuated Curve Interfaces for Display, Interaction, and Constraint. In Proceedings of the 28th Annual ACM Conference on Human Factors in Computing . https://doi.org/10.1145/2807442.2807452 Google Scholar
Digital Library
- Changjoo Nam, Huao Li, Shen Li, Michael Lewis, and Katia Sycara. 2018. Trust of Humans in Supervisory Control of Swarm Robots with Varied Levels of Autonomy. In 2018 IEEE International Conference on Systems, Man, and Cybernetics (SMC) (2018--10). 825--830. https://doi.org/10.1109/SMC.2018.00148 ISSN: 2577--1655.Google Scholar
- Koya Narumi, Fang Qin, Siyuan Liu, Huai-Yu Cheng, Jianzhe Gu, Yoshihiro Kawahara, Mohammad Islam, and Lining Yao. 2019. Self-Healing UI: Mechanically and Electrically Self-Healing Materials for Sensing and Actuation Interfaces. In Proceedings of the 32nd Annual ACM Symposium on User Interface Software and Technology (New Orleans, LA, USA) (UIST '19). Association for Computing Machinery, New York, NY, USA, 293--306. https://doi.org/10.1145/3332165.3347901 Google Scholar
Digital Library
- Laurence Nigay and Joëlle Coutaz. 1995. A Generic Platform for Addressing the Multimodal Challenge. In Proceedings of the SIGCHI Conference on Human Factors in Computing Systems (Denver, Colorado, USA) (CHI '95). ACM Press/Addison-Wesley Publishing Co., USA, 98--105. https://doi.org/10.1145/223904.223917 Google Scholar
Digital Library
- Esben Hallundbæk Østergaard, Kristian Kassow, Richard Beck, and Henrik Hautop Lund. 2006. Design of the ATRON lattice-based self-reconfigurable robot. Autonomous Robots , Vol. 21, 2 (01 Sep 2006), 165--183. https://doi.org/10.1007/s10514-006--8546--1 Google Scholar
Digital Library
- Amit Pamecha and Chih-Jung Chiang. 1996. DESIGN AND IMPLEMENTATION OF METAMORPHIC ROBOTS . (1996), 11.Google Scholar
- Pat Pannuto, Yoonmyung Lee, ZhiYoong Foo, Gyouho Kim, David Blaauw, and Prabal Dutta. 2015. Lessons from Five Years of Making Michigan Micro Motes. (2015), 2.Google Scholar
- Sylvain Pauchet, Catherine Letondal, Jean-Luc Vinot, Mickaël Causse, Mathieu Cousy, Valentin Becquet, and Guillaume Crouzet. 2018. GazeForm: Dynamic Gaze-adaptive Touch Surface for Eyes-free Interaction in Airliner Cockpits. In Proceedings of the 2018 on Designing Interactive Systems Conference 2018 - DIS '18 (Hong Kong, China, 2018). ACM Press, 1193--1205. https://doi.org/10.1145/3196709.3196712 Google Scholar
Digital Library
- Sylvain Pauchet, Jean-Luc Vinot, Catherine Letondal, Alexandre Lemort, Claire Lavenir, Timothée Lecomte, Stéphanie Rey, Valentin Becquet, and Guillaume Crouzet. 2019. Multi-plié: A Linear Foldable and Flattenable Interactive Display to Support Efficiency, Safety and Collaboration. In Proceedings of the 2019 CHI Conference on Human Factors in Computing Systems - CHI '19 (Glasgow, Scotland Uk, 2019). ACM Press, 1--13. https://doi.org/10.1145/3290605.3300384 Google Scholar
Digital Library
- Benoit Piranda and Julien Bourgeois. 2016. Geometrical study of a quasi-spherical module for building programmable matter. In DARS 2016, 13th International Symposium on Distributed Autonomous Robotic Systems. https://www.researchgate.net/profile/Benoit_Piranda/publication/307930970_Geometrical_study_of_a_quasi-spherical_modules_for_building_programmable_matter/links/582438d308ae7ea5be7233a7.pdfGoogle Scholar
- Benoit Piranda and Julien Bourgeois. 2018. Designing a quasi-spherical module for a huge modular robot to create programmable matter. Autonomous Robot Journal, Special Issue: Distributed Robotics: From Fundamentals to Applications , Vol. 42, 8 (2018), 1619--1633. https://doi.org/10.1007/s10514-018--9710-0 Google Scholar
Digital Library
- Benoit Piranda and Julien Bourgeois. 2020. Datom: A Deformable modular robot for building self-reconfigurable programmable matter. (2020). arxiv: 2005.03402 http://arxiv.org/abs/2005.03402Google Scholar
- Ivan Poupyrev, Tatsushi Nashida, and Makoto Okabe. 2007. Actuation and Tangible User Interfaces: the Vaucanson Duck, Robots, and Shape Displays. (2007), 8.Google Scholar
- Isabel P. S. Qamar, Rainer Groh, David Holman, and Anne Roudaut. 2018. HCI meets Material Science: A Literature Review of Morphing Materials for the Design of Shape-Changing Interfaces. In Proceedings of the 2018 CHI Conference on Human Factors in Computing Systems - CHI '18 (Montreal QC, Canada, 2018). ACM Press, 1--23. https://doi.org/10.1145/3173574.3173948 Google Scholar
Digital Library
- Jorge Peña Queralta, Li Qingqing, Tuan Nguyen Gia, Hong-Linh Truong, and Tomi Westerlund. 2020. End-to-End Design for Self-Reconfigurable Heterogeneous Robotic Swarms. In 2020 16th International Conference on Distributed Computing in Sensor Systems (DCOSS) (2020-05). 281--287. https://doi.org/10.1109/DCOSS49796.2020.00052 ISSN: 2325--2944.Google Scholar
- Majken Kirkegrard Rasmussen, Timothy Merritt, Miguel Bruns Alonso, and Marianne Graves Petersen. 2016. Balancing User and System Control in Shape-Changing Interfaces: A Designerly Exploration. In Proceedings of the TEI '16: Tenth International Conference on Tangible, Embedded, and Embodied Interaction (Eindhoven, Netherlands) (TEI '16). Association for Computing Machinery, New York, NY, USA, 202--210. https://doi.org/10.1145/2839462.2839499 Google Scholar
Digital Library
- Majken K. Rasmussen, Esben W. Pedersen, Marianne G. Petersen, and Kasper Hornbæk. 2012. Shape-changing interfaces: a review of the design space and open research questions. In Proceedings of the 2012 ACM annual conference on Human Factors in Computing Systems - CHI '12 (Austin, Texas, USA, 2012). ACM Press, 735. https://doi.org/10.1145/2207676.2207781 Google Scholar
Digital Library
- Simon Robinson, Céline Coutrix, Jennifer Pearson, Juan Rosso, Matheus Fernandes Torquato, Laurence Nigay, and Matt Jones. 2016. Emergeables: Deformable Displays for Continuous Eyes-Free Mobile Interaction. In CHI '16: Proceedings of the 2016 CHI Conference on Human Factors in Computing Systems. Swansea University, ACM, New York, New York, USA, 3793--3805. https://doi.org/10.1145/2858036.2858097 Google Scholar
Digital Library
- John W. Romanishin, Kyle Gilpin, Sebastian Claici, and Daniela Rus. 2015. 3D M-Blocks: Self-reconfiguring robots capable of locomotion via pivoting in three dimensions. In 2015 IEEE International Conference on Robotics and Automation (ICRA) (Seattle, WA, USA, 2015-05). IEEE, 1925--1932. https://doi.org/10.1109/ICRA.2015.7139450Google Scholar
Cross Ref
- J. W. Romanishin, K. Gilpin, and D. Rus. 2013. M-blocks: Momentum-driven, magnetic modular robots. In 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems. 4288--4295. https://doi.org/10.1109/IROS.2013.6696971Google Scholar
Cross Ref
- A Roudaut, D Krusteva, M McCoy, A Karnik, K Ramani, and S Subramanian. 2016. Cubimorph: Designing modular interactive devices. In 2016 IEEE International Conference on Robotics and Automation (ICRA. IEEE, 3339--3345. https://doi.org/10.1109/ICRA.2016.7487508Google Scholar
Digital Library
- Anne Roudaut, Henning Pohl, and Patrick Baudisch. 2011. Touch input on curved surfaces. In CHI '11: Proceedings of the SIGCHI Conference on Human Factors in Computing Systems. ACM. https://doi.org/10.1145/1978942.1979094 Google Scholar
Digital Library
- Michael Rubenstein, Christian Ahler, and Radhika Nagpal. 2012. Kilobot: A low cost scalable robot system for collective behaviors. In Robotics and Automation (ICRA), 2012 IEEE International Conference on. IEEE, 3293--3298.Google Scholar
Cross Ref
- M. Rubenstein, K. Payne, P. Will, and Wei-Min Shen. 2004. Docking among independent and autonomous CONRO self-reconfigurable robots. In IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 (New Orleans, LA, USA, 2004). IEEE, 2877--2882 Vol.3. https://doi.org/10.1109/ROBOT.2004.1307497Google Scholar
Cross Ref
- Daniela Rus and Marsette Vona. 2001. Crystalline Robots: Self-Reconfiguration with Compressible Unit Modules. , Vol. 10, 1 (2001), 107--124. https://doi.org/10.1023/A:1026504804984 Google Scholar
Digital Library
- G. G. Ryland and H. H. Cheng. 2010. Design of iMobot, an intelligent reconfigurable mobile robot with novel locomotion. In 2010 IEEE International Conference on Robotics and Automation . 60--65.Google Scholar
- David Saldana, Bruno Gabrich, Guanrui Li, Mark Yim, and Vijay Kumar. 2018. ModQuad: The Flying Modular Structure that Self-Assembles in Midair. In 2018 IEEE International Conference on Robotics and Automation (ICRA) (Brisbane, QLD, 2018-05). IEEE, 691--698. https://doi.org/10.1109/ICRA.2018.8461014Google Scholar
Cross Ref
- Behnam Salemi, Mark Moll, and Wei-min Shen. 2006. SUPERBOT: A Deployable, Multi-Functional, and Modular Self-Reconfigurable Robotic System. In 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (Beijing, China, 2006--10). IEEE, 3636--3641. https://doi.org/10.1109/IROS.2006.281719Google Scholar
Cross Ref
- Orit Shaer and Eva Hornecker. 2010. Tangible User Interfaces: Past, Present and Future Directions. Vol. 3. Now Publishers Inc. https://doi.org/10.1561/1100000026 Google Scholar
Digital Library
- A. Sprowitz, R. Moeckel, M. Vespignani, S. Bonardi, and A.J. Ijspeert. 2014. Roombots: A hardware perspective on 3D self-reconfiguration and locomotion with a homogeneous modular robot. Robotics and Autonomous Systems , Vol. 62, 7 (2014), 1016 -- 1033. https://doi.org/10.1016/j.robot.2013.08.011 Reconfigurable Modular Robotics.Google Scholar
Cross Ref
- David St-Onge, Ulysse Côté-Allard, Kyrre Glette, Benoit Gosselin, and Giovanni Beltrame. 2019. Engaging with Robotic Swarms: Commands from Expressive Motion. , Vol. 8, 2 (2019), 11:1--11:26. https://doi.org/10.1145/3323213 Google Scholar
Digital Library
- Kasper Stoy and Haruhisa Kurokawa. 2011. Current topics in classic self-reconfigurable robot research. In Proceedings of the IROS Workshop on Reconfigurable Modular Robotics: Challenges of Mechatronic and Bio-Chemo-Hybrid Systems .Google Scholar
- Miriam Sturdee and Jason Alexander. 2018. Analysis and Classification of Shape-Changing Interfaces for Design and Application-based Research. , Vol. 51, 1 (2018), 1--32. https://doi.org/10.1145/3143559 Google Scholar
Digital Library
- Miriam Sturdee, Aluna Everitt, Joseph Lindley, Paul Coulton, and Jason Alexander. 2019. Visual Methods for the Design of Shape-Changing Interfaces. In Human-Computer Interaction -- INTERACT 2019 (Cham, 2019) (Lecture Notes in Computer Science), David Lamas, Fernando Loizides, Lennart Nacke, Helen Petrie, Marco Winckler, and Panayiotis Zaphiris (Eds.). Springer International Publishing, 337--358. https://doi.org/10.1007/978--3-030--29387--1_19Google Scholar
Cross Ref
- Ryo Suzuki, Hooman Hedayati, Clement Zheng, James L. Bohn, Daniel Szafir, Ellen Yi-Luen Do, Mark D. Gross, and Daniel Leithinger. 2020. RoomShift: Room-scale Dynamic Haptics for VR with Furniture-moving Swarm Robots. In Proceedings of the 2020 CHI Conference on Human Factors in Computing Systems (Honolulu, HI, USA, 2020-04--21) (CHI '20). Association for Computing Machinery, 1--11. https://doi.org/10.1145/3313831.3376523 Google Scholar
Digital Library
- Ryo Suzuki, Junichi Yamaoka, Daniel Leithinger, Tom Yeh, Mark D. Gross, Yoshihiro Kawahara, and Yasuaki Kakehi. 2018. Dynablock: Dynamic 3D Printing for Instant and Reconstructable Shape Formation. In Proceedings of the 31st Annual ACM Symposium on User Interface Software and Technology (Berlin, Germany) (UIST '18). ACM, New York, NY, USA, 99--111. https://doi.org/10.1145/3242587.3242659 Google Scholar
Digital Library
- Ryo Suzuki, Clement Zheng, Yasuaki Kakehi, Tom Yeh, Ellen Yi-Luen Do, Mark D. Gross, and Daniel Leithinger. 2019. ShapeBots: Shape-changing Swarm Robots. In Proceedings of the 32nd Annual ACM Symposium on User Interface Software and Technology (UIST '19). Association for Computing Machinery, New York, NY, USA, 493--505. https://doi.org/10.1145/3332165.3347911 Google Scholar
Digital Library
- Ning Tan, Abdullah Aamir Hayat, Mohan Rajesh Elara, and Kristin L. Wood. 2020. A Framework for Taxonomy and Evaluation of Self-Reconfigurable Robotic Systems. , Vol. 8 (2020), 13969--13986. https://doi.org/10.1109/ACCESS.2020.2965327Google Scholar
- Pierre Thalamy, Benoit Piranda, and Julien Bourgeois. 2019 a. Distributed Self-Reconfiguration using a Deterministic Autonomous Scaffolding Structure. In Proceedings of the 19th International Conference on Autonomous Agents and MultiAgent Systems. Montreal QC, Canada, 140--148. Google Scholar
Digital Library
- Pierre Thalamy, Benoît Piranda, and Julien Bourgeois. 2019 b. A survey of autonomous self-reconfiguration methods for robot-based programmable matter. , Vol. 120 (2019), 103242. https://doi.org/10.1016/j.robot.2019.07.012Google Scholar
- Pierre Thalamy, Benoit Piranda, Frederic Lassabe, and Julien Bourgeois. 2019 c. Scaffold-Based Asynchronous Distributed Self-Reconfiguration By Continuous Module Flow. In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (Macau, China, 2019--11). IEEE, 4840--4846. https://doi.org/10.1109/IROS40897.2019.8967775Google Scholar
- John Tiab and Kasper Hornbæk. 2016. Understanding Affordance, System State, and Feedback in Shape-Changing Buttons. In Proceedings of the 2016 CHI Conference on Human Factors in Computing Systems (San Jose, California, USA) (CHI '16). Association for Computing Machinery, New York, NY, USA, 2752--2763. https://doi.org/10.1145/2858036.2858350 Google Scholar
Digital Library
- Kohji Tomita, Satoshi Murata, Eiichi Yoshida, Haruhisa Kurokawa, and Shigeru Kokaji. 1996. Reconfiguration Method for a Distributed Mechanical System . 17--25. https://doi.org/10.1007/978--4--431--66942--5_3Google Scholar
- E. Tsykunov, R. Agishev, R. Ibrahimov, L. Labazanova, A. Tleugazy, and D. Tsetserukou. 2019. SwarmTouch: Guiding a Swarm of Micro-Quadrotors With Impedance Control Using a Wearable Tactile Interface. , Vol. 12, 3 (2019), 363--374. https://doi.org/10.1109/TOH.2019.2927338 Conference Name: IEEE Transactions on Haptics.Google Scholar
- Luis Vega, Devin Hughes, Camilo Buscaron, Dr Eric M Schwartz, and Dr A Antonio Arroyo. 2008. MILyBots: Design and Development of Swarm-Robots. (2008), 9.Google Scholar
- Santiago Villarreal-Narvaez, Jean Vanderdonckt, Radu-Daniel Vatavu, and Jacob O. Wobbrock. 2020. A Systematic Review of Gesture Elicitation Studies: What Can We Learn from 216 Studies?. In Proceedings of the 2020 ACM Designing Interactive Systems Conference (Eindhoven Netherlands, 2020-07-03). ACM, 855--872. https://doi.org/10.1145/3357236.3395511 Google Scholar
Digital Library
- Xiaofeng Wang, Minglu Zhang, and Weimin Ge. 2016. A Novel Docking Mechanism Design and Dynamic Performance Analysis of Self-reconfigurable Modular Robot. In Advances in Reconfigurable Mechanisms and Robots II (Cham) (Mechanisms and Machine Science), , Xilun Ding, Xianwen Kong, and Jian S. Dai (Eds.). Springer International Publishing, 681--692. https://doi.org/10.1007/978--3--319--23327--7_58Google Scholar
- Michael Philetus Weller, Mark D. Gross, and Seth Copen Goldstein. 2011. Hyperform specification: designing and interacting with self-reconfiguring materials. , Vol. 15, 2 (2011), 133--149. https://doi.org/10.1007/s00779-010-0315--7 Google Scholar
Digital Library
- Paul White, Victor Zykov, Josh Bongard, and Hod Lipson. 2005. Three Dimensional Stochastic Reconfiguration of Modular Robots. In Robotics: Science and Systems I (2005-06-08). Robotics: Science and Systems Foundation. https://doi.org/10.15607/RSS.2005.I.022Google Scholar
Cross Ref
- Lining Yao, Ryuma Niiyama, Jifei Ou, Sean Follmer, Clark Della Silva, and Hiroshi Ishii. 2013. PneUI: pneumatically actuated soft composite materials for shape changing interfaces. In UIST '13: Proceedings of the 26th annual ACM symposium on User interface software and technology. ACM, New York, New York, USA, 13--22. https://doi.org/10.1145/2501988.2502037 Google Scholar
Digital Library
- M. Yim, D. G. Duff , and K. D. Roufas. 2000. PolyBot: a modular reconfigurable robot. In Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065), Vol. 1. 514--520 vol.1. https://doi.org/10.1109/ROBOT.2000.844106Google Scholar
Cross Ref
- M. Yim, W. Shen , B. Salemi, D. Rus , M. Moll, H. Lipson , E. Klavins, and G. S. Chirikjian. 2007. Modular Self-Reconfigurable Robot Systems [Grand Challenges of Robotics]. IEEE Robotics Automation Magazine , Vol. 14, 1 (March 2007), 43--52. https://doi.org/10.1109/MRA.2007.339623Google Scholar
Cross Ref
- Mark Yim, Paul White, Michael Park, and Jimmy Sastra. 2009. Modular Self-Reconfigurable Robots. In Encyclopedia of Complexity and Systems Science, Robert A. Meyers (Ed.). Springer, 5618--5631. https://doi.org/10.1007/978-0--387--30440--3_334Google Scholar
- Mark H. Yim, John O. Lamping, and Eric W. Mao. 2001. Touchable user interface using self movable robotic modules. http://www.freepatentsonline.com/6243622.htmlGoogle Scholar
- H.X. Zhang, J. Gonzalez-Gomez, S.Y. Chen, and J.W. Zhang. 2009. Embedded intelligent capability of a modular robotic system. In 2008 IEEE International Conference on Robotics and Biomimetics (Bangkok, 2009-02). IEEE, 2061--2066. https://doi.org/10.1109/ROBIO.2009.4913319 Google Scholar
Digital Library
- Yiwei Zhao, Lawrence H. Kim, Ye Wang, Mathieu Le Goc, and Sean Follmer. 2017. Robotic Assembly of Haptic Proxy Objects for Tangible Interaction and Virtual Reality. In Proceedings of the 2017 ACM International Conference on Interactive Surfaces and Spaces (Brighton, United Kingdom) (ISS '17). Association for Computing Machinery, New York, NY, USA, 82--91. https://doi.org/10.1145/3132272.3134143 Google Scholar
Digital Library
- Victor Zykov, Efstathios Mytilinaios, Mark Desnoyer, and Hod Lipson. 2007. Evolved and Designed Self-Reproducing Modular Robotics. , Vol. 23, 2 (2007), 308--319. https://doi.org/10.1109/TRO.2007.894685 Google Scholar
Digital Library
Index Terms
Molecular HCI: Structuring the Cross-disciplinary Space of Modular Shape-changing User Interfaces
Recommendations
Shape-changing interfaces: a review of the design space and open research questions
CHI '12: Proceedings of the SIGCHI Conference on Human Factors in Computing SystemsShape change is increasingly used in physical user interfaces, both as input and output. Yet, the progress made and the key research questions for shape-changing interfaces are rarely analyzed systematically. We review a sample of existing work on shape-...
A postphenomenological method for HCI research
OzCHI '18: Proceedings of the 30th Australian Conference on Computer-Human InteractionThis paper presents an analysis of the presence and potential of a postphenomenology as a research method in human-computer interaction (HCI). Specifically, we introduce Rosenberger's method of variational cross-examination; an empirical approach that ...
Modular Tangible User Interfaces: Impact of Module Shape and Bonding Strength on Interaction
TEI '23: Proceedings of the Seventeenth International Conference on Tangible, Embedded, and Embodied InteractionModular Tangible User Interfaces (TUIs) –i.e., UIs made of small-scale physical modules– offer novel opportunities for tangible interaction thanks to their highly customizable form factor. Such modular TUIs were proposed with different shape of modules ...






Comments