We present InSituWear, a form-finding, on-body robotic fabrication method that melt-draws low-temperature thermoplastic polycaprolactone (PCL) directly onto the human body to create personalized wearables. Heated to a plasticized state, PCL is stretched into microfilaments (minimum diameter ≈ 0.03 mm) and robotically drawn in 3D; upon cooling, the filaments adhere and retain shape. Because PCL conforms around ~50 °C and cools rapidly, our process eliminates 3D capture, digital modeling, and assembly, enabling immediate, body-conforming wear at skin-safe temperatures. We present a tunable design system that varies filament diameter, wrapping density, and weaving pattern to locally control stiffness and compliance, improving comfort relative to sheet-based thermoplastics. Technical experimentation characterizes how fabrication parameters (speed, temperature, composition, and path strategy) affect performance. Finally, we demonstrate personalized body-wrapped wearables (e.g., sleeve, glove) and speculate on larger-scale applications (e.g., furniture, architectural surfaces) that showcase enhanced fit, waste-free fabrication, and intelligent behavior. These prototypes outline a framework for embodied, form-finding, adaptive robotic fabrication in HCI.
We introduce DuoMorph, a design and fabrication method that synergistically integrates Fused Deposition Modeling(FDM) printing and pneumatic actuation to create novel shape-changing interfaces. In DuoMorph, the printed structures and heat-sealed pneumatic elements are mutually designed to actuate and constrain each other, enabling functions that are difficult for either component to achieve in isolation. Moreover, the entire hybrid structure can be fabricated through a single, seamless process using only a standard FDM printer—including both heat-sealing and 3D/4D printing. In this paper, we define a design space including four primitive categories that capture the fundamental ways in which printed and pneumatic components can interact. To support this process, we present a fabrication method and an accompanying design tool. Finally, we demonstrate the potential of DuoMorph through example applications and performance demonstrations.
Walking aids are critical for people with mobility impairments, yet current options remain unsatisfactory. Static knee braces are lightweight and affordable, but their rigid joints force users into unnatural gait patterns, leading to fatigue, reduced safety, and high abandonment rates. Robotic exoskeletons, in contrast, offer dynamic assistance that adapts to gait phases but rely on sensors, motors, and batteries that make them heavy, complex, and prohibitively expensive. In this paper, we propose a fully passive knee exoskeleton design that combines the accessibility of static braces with the adaptive functionality of robotic systems. Our design employs a mechanical trigger under the foot to lock and release the knee joint in sync with the gait cycle, enabling more natural walking without electronics or actuation. Using human-centered methods, we conducted interviews with clinicians and orthosis users to guide our design and evaluated an early prototype as a design probe with stakeholders.
Designers have long relied on steam bending, lamination techniques, kerf cuts, and considerable craft to shape curved wood. What if wood could be programmed to shape itself beyond bending, making complex forms more affordable? We present a computational framework for 3D printing wood-based hygromorphic structures that morph from initially flat sheets into two distinct doubly curved, non-developable surfaces upon hydration and dehydration. Our tool supports both forward and inverse design: starting from primitives or a target geometry, it generates deposition toolpaths and predicts wet and dry states. We characterize anisotropic swelling and shrinkage to calibrate the simulator and evaluate accuracy via corresponding point-pair distances on simulated and printed forms. Finally, we present primitive-based designs and three application demonstrations using our framework. By coupling material behavior with design intent on consumer-grade printers, our framework reduces skill and equipment barriers and enables new fabrication and design possibilities in wood-based practice.
Acoustic levitation enables mid-air displays using physical particles to create 3D visuals, but stability limits the achievable animation complexity. Stability depends on factors including the acoustic solver, particle count, motion speed, and path geometry. This paper analyzes these factors, characterizing their effects, identifying constraints, and allowing particles to successfully follow the paths. We then propose Acoustic Actor-Critic (AAC), a closed-loop motion planning system that maximizes stability for multi-particle trajectories with minimal changes to the intended visual content. This follows a plan-detect-repair strategy: i) the Actor plans trajectories under the established constraints; ii) the Critic evaluates their stability and detects instabilities; iii) the Repair modules trigger localized repairs upon unstable path segments. Results showed that AAC can automatically refine and repair multi-particle trajectories, reducing failures from 21\% to 6\% across 100 paths. Our findings enable creators to produce more stable levitation paths, while AAC automatically refines trajectories with minimal deviation from the original animations.
Shape-changing interfaces (SCIs) dynamically alter their form, an inherent characteristic that introduces fragility into their design. As a result, users’ perceptions of an interface’s fragility or its potential to move or break may influence their interaction, however the extent of this effect is unclear. To address this gap, we conducted a qualitative study (N = 18) using video stimuli showcasing 20 existing SCIs. Through thematic analysis, we identified key factors impacting perceived fragility and formalised these into a framework. We then conducted a second study (N = 36) for which we fabricated SCIs that varied across selected fragility-related dimensions. We recorded user interactions and compared how the selected dimensions shaped manipulation of the objects and how they were considered by users. Together, these studies provide a structured foundational understanding of perceived fragility in SCIs and offer insights to enhance perceived robustness and inform future SCI development.
In this paper, we explore the design and development of passive soft 3D-printed structures whose deformation can be sensed accurately without any wired connection. By 3D printing tangible interfaces consisting of flexible TPU (thermoplastic polyurethane), made from lattice structures with bespoke geometries and mechanical properties, and ferromagnetic elements using metal-infused filaments, we enable the detection of structural deformations through inductive sensing. We investigate how different ferromagnetic core configurations within flexible substrates, guided by key design parameters, influence the sensitivity, responsiveness, and deformability of the sensing system. We demonstrate that our 3D-printed inductive sensing approach allows users to switch their fully passive tangible interfaces for specialized tasks without assembly or the need to unplug wires. Our sensing approach can be integrated in portable applications, such as a smart bottle cover that captures subtle deformation to measure liquid intake, or in wearable applications, such as monitoring foot pressure in smart shoes.