Abstract

We introduce Augmented Math, a machine learning-based approach to authoring AR explorable explanations by augmenting static math textbooks without programming. To augment a static document, our system first extracts mathematical formulas and figures from a given document using optical character recognition (OCR) and computer vision. By binding and manipulating these extracted contents, the user can see the interactive animation overlaid onto the document through mobile AR interfaces. This empowers non-technical users, such as teachers or students, to transform existing math textbooks and handouts into on-demand and personalized explorable explanations. To design our system, we first analyzed existing explorable math explanations to identify common design strategies. Based on the findings, we developed a set of augmentation techniques that can be automatically generated based on the extracted content, which are 1) dynamic values, 2) interactive figures, 3) relationship highlights, 4) concrete examples, and 5) step-by-step hints. To evaluate our system, we conduct two user studies: preliminary user testing and expert interviews. The study results confirm that our system allows more engaging experiences for learning math concepts.

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Abstract

This paper introduces HoloBots, a mixed reality remote collaboration system that augments holographic telepresence with synchronized mobile robots. Beyond existing mixed reality telepresence, HoloBots lets remote users not only be visually and spatially present, but also physically engage with local users and their environment. HoloBots allows the users to touch, grasp, manipulate, and interact with the remote physical environment as if they were co-located in the same shared space. We achieve this by synchronizing holographic user motion (Hololens 2 and Azure Kinect) with tabletop mobile robots (Sony Toio). Beyond the existing physical telepresence, HoloBots contributes to an exploration of broader design space, such as object actuation, virtual hand physicalization, world-in-miniature exploration, shared tangible interfaces, embodied guidance, and haptic communication. We evaluate our system with twelve participants by comparing it with hologram-only and robot-only conditions. Both quantitative and qualitative results confirm that our system significantly enhances the level of co-presence and shared experience, compared to the other conditions.

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Abstract

We introduce RealityCanvas, a mobile AR sketching tool that can easily augment real-world physical motion with responsive hand-drawn animation. Recent research in AR sketching tools has enabled users to not only embed static drawings into the real world but also dynamically animate them with physical motion. However, existing tools often lack the flexibility and expressiveness of possible animations, as they primarily support simple line-based geometry. To address this limitation, we explore both expressive and improvisational AR sketched animation by introducing a set of responsive scribble animation techniques that can be directly embedded through sketching interactions: 1) object binding, 2) flip-book animation, 3) action trigger, 4) particle effects, 5) motion trajectory, and 6) contour highlight. These six animation effects were derived from the analysis of 172 existing video-edited scribble animations. We showcase these techniques through various applications, such as video creation, augmented education, storytelling, and AR prototyping. The results of our user study and expert interviews confirm that our tool can lower the barrier to creating AR-based sketched animation, while allowing creative, expressive, and improvisational AR sketching experiences.

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Abstract

Despite the advances and ubiquity of digital communication media such as videoconferencing and virtual reality, they remain oblivious to the rich intentions expressed by users. Beyond transmitting audio, videos, and messages, we envision digital communication media as proactive facilitators that can provide unobtrusive assistance to enhance communication and collaboration. Informed by the results of a formative study, we propose three key design concepts to explore the systematic integration of intelligence into communication and collaboration, including the panel substrate, language-based intent recognition, and lightweight interaction techniques. We developed CrossTalk, a videoconferencing system that instantiates these concepts, which was found to enable a more fluid and flexible communication and collaboration experience.

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Abstract

In this paper, we introduce Physica, a tangible physics simulation system and approach based on tabletop mobile robots. In Physica, each tabletop robot can physically represent distinct simulated objects that are controlled through an underlying physics simulation, such as gravitational force, molecular movement, and spring force. It aims to bring the benefits of tangible and haptic interaction into explorable physics learning, which was traditionally only available on screen-based interfaces. The system utilizes off-the-shelf mobile robots (Sony Toio) and an open-source physics simulation tool (Teilchen). Built on top of them, we implement the interaction software pipeline that consists of 1) an event detector to reflect tangible interaction by users, and 2) target speed control to minimize the gap between the robot motion and simulated moving objects. To present the potential for physics education, we demonstrate various application scenarios that illustrate different forms of learning using Physica. In our user study, we investigate the effect and the potential of our approach through a perception study and interviews with physics educators.

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Abstract

Anthropographics are human-shaped visualizations that aim to emphasize the human importance of datasets and the people behind them. However, current anthropographics tend to employ homogeneous human shapes to encode data about diverse demographic groups. Such anthropographics can obscure important differences between groups and contemporary designs exemplify the lack of inclusive approaches for representing human diversity in visualizations. In response, we explore the creation of demographically diverse anthropographics that communicate the visible diversity of demographically distinct populations. Building on previous anthropographics research, we explore strategies for visualizing datasets about people in ways that explicitly encode diversity—illustrating these approaches with examples in a variety of visual styles. We also critically reflect on strategies for creating diverse anthropographics, identifying social and technical challenges that can result in harmful representations. Finally, we highlight a set of forward-looking research opportunities for advancing the design and understanding of diverse anthropographics.

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Abstract

We present ChameleonControl, a real-human teleoperation system for scalable remote instruction in hands-on classrooms. In contrast to the existing video or AR/VR-based remote hands-on education, ChameleonControl uses a real human as a surrogate of a remote instructor. Building on existing human-based telepresence approaches (e.g. ChameleonMask), we contribute a novel method to teleoperate a human surrogate through synchronized mixed reality (MR) hand gestural navigation and verbal communication. By overlaying the remote instructor's virtual hands in the local user's MR view, the remote instructor can guide and control the local user as if they were physically present. This allows the local user/surrogate to synchronize their hand movements and gestures with the remote instructor, effectively ``teleoperating'' a real human. We evaluate our system through the in-the-wild deployment for physiotherapy classrooms, as well as lab-based experiments for other application domains such as mechanical assembly, sign language, and cooking lessons. The study results confirm that our approach can increase engagement and the sense of co-presence, showing potential for the future of remote hands-on classrooms.

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Abstract

This paper introduces Teachable Reality, an augmented reality (AR) prototyping tool for creating interactive tangible AR applications with arbitrary everyday objects. Teachable Reality leverages vision-based interactive machine teaching (e.g., Teachable Machine), which captures real-world interactions for AR prototyping. It identifies the user-defined tangible and gestural interactions using an on-demand computer vision model. Based on this, the user can easily create functional AR prototypes without programming, enabled by a trigger-action authoring interface. Therefore, our approach allows the flexibility, customizability, and generalizability of tangible AR applications that can address the limitation of current marker-based approaches. We explore the design space and demonstrate various AR prototypes, which include tangible and deformable interfaces, context-aware assistants, and body-driven AR applications. The results of our user study and expert interviews confirm that our approach can lower the barrier to creating functional AR prototypes while also allowing flexible and general-purpose prototyping experiences.

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Abstract

We contribute interaction techniques for augmenting mixed reality (MR) visualizations with smartphone proxies. By combining head-mounted displays (HMDs) with mobile touchscreens, we can augment low-resolution holographic 3D charts with precise touch input, haptics feedback, high-resolution 2D graphics, and physical manipulation. Our approach aims to complement both MR and physical visualizations. Most current MR visualizations suffer from unreliable tracking, low visual resolution, and imprecise input. Data physicalizations on the other hand, although allowing for natural physical manipulation, are limited in dynamic and interactive modification. We demonstrate how mobile devices such as smartphones or tablets can serve as physical proxies for MR data interactions, creating dynamic visualizations that support precise manipulation and rich input and output. We describe 6 interaction techniques that leverage the combined physicality, sensing, and output capabilities of HMDs and smartphones, and demonstrate those interactions via a prototype system. Based on an evaluation, we outline opportunities for combining the advantages of both MR and physical charts.

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Abstract

This paper introduces VR Haptics at Home, a method of repurposing everyday objects in the home to provide casual and on-demand haptic experiences. Current VR haptic devices are often expensive, complex, and unreliable, which limits the opportunities for rich haptic experiences outside research labs. In contrast, we envision that, by repurposing everyday objects as passive haptics props, we can create engaging VR experiences for casual uses with minimal cost and setup. To explore and evaluate this idea, we conducted an in-the-wild study with eight participants, in which they used our proof-of-concept system to turn their surrounding objects such as chairs, tables, and pillows at their own homes into haptic props. The study results show that our method can be adapted to different homes and environments, enabling more engaging VR experiences without the need for complex setup process. Based on our findings, we propose a possible design space to showcase the potential for future investigation.

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Abstract

Gestural interaction with freehands and while grasping an everyday object enables always-available input. To sense such gestures, minimal instrumentation of the user’s hand is desirable. However, the choice of an effective but minimal IMU layout remains challenging, due to the complexity of the multi-factorial space that comprises diverse finger gestures, objects and grasps. We present SparseIMU, a rapid method for selecting minimal inertial sensor-based layouts for effective gesture recognition. Furthermore, we contribute a computational tool to guide designers with optimal sensor placement. Our approach builds on an extensive microgestures dataset that we collected with a dense network of 17 inertial measurement units (IMUs). We performed a series of analyses, including an evaluation of the entire combinatorial space for freehand and grasping microgestures (393K layouts), and quantified the performance across different layout choices, revealing new gesture detection opportunities with IMUs. Finally, we demonstrate the versatility of our method with four scenarios.

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Abstract

This paper introduces Sketched Reality, an approach that com- bines AR sketching and actuated tangible user interfaces (TUI) for bi-directional sketching interaction. Bi-directional sketching enables virtual sketches and physical objects to affect each other through physical actuation and digital computation. In the existing AR sketching, the relationship between virtual and physical worlds is only one-directional --- while physical interaction can affect virtual sketches, virtual sketches have no return effect on the physical objects or environment. In contrast, bi-directional sketching interaction allows the seamless coupling between sketches and actuated TUIs. In this paper, we employ tabletop-size small robots (Sony Toio) and an iPad-based AR sketching tool to demonstrate the concept. In our system, virtual sketches drawn and simulated on an iPad (e.g., lines, walls, pendulums, and springs) can move, actuate, collide, and constrain physical Toio robots, as if virtual sketches and the physical objects exist in the same space through seamless coupling between AR and robot motion. This paper contributes a set of novel interactions and a design space of bi-directional AR sketching. We demonstrate a series of potential applications, such as tangible physics education, explorable mechanism, tangible gaming for children, and in-situ robot programming via sketching.

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Abstract

We present RealityTalk, a system that augments real-time live presentations with speech-driven interactive virtual elements. Augmented presentations leverage embedded visuals and animation for engaging and expressive storytelling. However, existing tools for live presentations often lack interactivity and improvisation, while creating such effects in video editing tools require significant time and expertise. RealityTalk enables users to create live augmented presentations with real-time speech-driven interactions. The user can interactively prompt, move, and manipulate graphical elements through real-time speech and supporting modalities. Based on our analysis of 177 existing video-edited augmented presentations, we propose a novel set of interaction techniques and then incorporated them into RealityTalk. We evaluate our tool from a presenter’s perspective to demonstrate the effectiveness of our system.

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Abstract

In this paper, we present Mixels, programmable magnetic pixels that can be rapidly fabricated using an electromagnetic printhead mounted on an off-the-shelve 3-axis CNC machine. The ability to program magnetic material pixel-wise with varying magnetic force enables Mixels to create new tangible, tactile, and haptic interfaces. To facilitate the creation of interactive objects with Mixels, we provide a user interface that lets users specify the high-level magnetic behavior and that then computes the underlying magnetic pixel assignments and fabrication instructions to program the magnetic surface. Our custom hardware add-on based on an electromagnetic printhead and hall effect sensor clips onto a standard 3-axis CNC machine and can both write and read magnetic pixel values from magnetic material. Our evaluation shows that our system can reliably program and read magnetic pixels of various strengths, that we can predict the behavior of two interacting magnetic surfaces before programming them, that our electromagnet is strong enough to create pixels that utilize the maximum magnetic strength of the material being programmed, and that this material remains magnetized when removed from the magnetic plotter.

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Abstract

Designers and makers are increasingly interested in leveraging bio-based and bio-degradable ‘do-it-yourself’ (DIY) materials for sustainable prototyping. Their self-produced bioplastics possess compelling properties such as self-adhesion but have so far not been functionalized to create soft interactive devices, due to a lack of DIY techniques for the fabrication of functional electronic circuits and sensors. In this paper, we contribute a DIY approach for creating Interactive Bioplastics that is accessible to a wide audience, making use of easy-to-obtain bio-based raw materials and familiar tools. We present three types of conductive bioplastic materials and their formulation: sheets, pastes and foams. Our materials enable additive and subtractive fabrication of soft circuits and sensors. Furthermore, we demonstrate how these materials can substitute conventional prototyping materials, be combined with off-the-shelf electronics, and be fed into a sustainable material ‘life-cycle’ including disassembly, re-use, and re-melting of materials. A formal characterization of our conductors highlights that they are even on-par with commercially available carbon-based conductive pastes.

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Abstract

We introduce UltraBots, a system that combines ultrasound haptic feedback and robotic actuation for large-area mid-air haptics for VR. Ultrasound haptics can provide precise mid-air haptic feedback and versatile shape rendering, but the interaction area is often limited by the small size of the ultrasound devices, restricting the possible interactions for VR. To address this problem, this paper introduces a novel approach that combines robotic actuation with ultrasound haptics. More specifically, we will attach ultrasound transducer arrays to tabletop mobile robots or robotic arms for scalable, extendable, and translatable interaction areas. We plan to use Sony Toio robots for 2D translation and/or commercially available robotic arms for 3D translation. Using robotic actuation and hand tracking measured by a VR HMD (ex: Oculus Quest), our system can keep the ultrasound transducers underneath the user’s hands to provide on-demand haptics. We demonstrate applications with workspace environments, medical training, education and entertainment.

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Abstract

This paper introduces a method to generate highly selective encodings that can be magnetically programmed onto physical modules to enable them to self-assemble in chosen configurations. We generate these encodings based on Hadamard matrices, and show how to design the faces of modules to be maximally attractive to their intended mate, while remaining maximally agnostic to other faces. We derive guarantees on these bounds, and verify their attraction and agnosticism experimentally. Using cubic modules whose faces have been covered in soft magnetic material, we show how inexpensive, passive modules with planar faces can be used to selectively self-assemble into target shapes without geometric guides. We show that these modules can be easily re-programmed for new target shapes using a CNC-based magnetic plotter, and demonstrate self-assembly of 8 cubes in a water tank.

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Abstract

We present EvoIsland, a scalable interactive evolutionary user interface framework inspired by the spatially isolated land masses seen on Earth. Our generalizable interaction system encourages creators to spatially explore a wide range of design possibilities through the combination, separation, and rearrangement of hexagonal tiles on a grid. As these tiles are grouped into islandlike clusters, localized populations of designs form through an underlying evolutionary system. The interactions that take place within EvoIsland provide content creators with new ways to shape, display and assess populations in evolutionary systems that produce a wide range of solutions with visual phenotype outputs.

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Abstract

We take the well-established use of physical scale models in architecture and identify new opportunities for using them to interactively visualize and examine multiple streams of geospatial data. Overlaying, comparing, or integrating visualizations of complementary data sets in the same physical space is often challenging given the constraints of various data types and the limited design space of possible visual encodings. Our vision of “simultaneous worlds” uses physical models as a substrate upon which visualizations of multiple data streams can be dynamically and concurrently integrated. To explore the potential of this concept, we created three design explorations that use an illuminated campus model to integrate visualizations about building energy use, climate, and movement paths on a university campus. We use a research through design approach, documenting how our interdisciplinary collaborations with domain experts, students, and architects informed our designs. Based on our observations, we characterize the benefits of models for 1) situating visualizations, 2) composing visualizations, and 3) manipulating and authoring visualizations. Our work highlights the potential of physical models to support embodied exploration of spatial and non-spatial visualizations through fluid interactions.

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Abstract

We explore the design and utility of situated manual self-tracking visualizations on dedicated displays that integrate data tracking into existing practices and physical environments. Situating self-tracking tools in relevant locations is a promising approach to enable reflection on and awareness of data without needing to rely on sensorized tracking or personal devices. In both a long-term autobiographical design process and a co-design study with six participants, we rapidly prototyped and deployed 30 situated self-tracking applications over a ten month period. Grounded in the experience of designing and living with these trackers, we contribute findings on logging and data entry, the use of situated displays, and the visual design and customization of trackers. Our results demonstrate the potential of customizable dedicated self-tracking visualizations that are situated in relevant physical spaces, and suggest future research opportunities and new potential applications for situated visualizations.

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Abstract

We explore the use of cinematic “pre-visualization” (previs) techniques as a rapid ideation and design futuring method for human computer interaction (HCI) research. Previs approaches, which are widely used in animation and film production, use digital design tools to create medium-fidelity videos that capture richer interaction, motion, and context than sketches or static illustrations. When used as a design futuring method, previs can facilitate rapid, iterative discussions that reveal tensions, challenges, and opportunities for new research. We performed eight one-week design futuring sprints, in which individual HCI researchers collaborated with a lead designer to produce concept sketches, storyboards, and videos that examined future applications of their research. From these experiences, we identify recurring themes and challenges and present a One Week Futuring Workbook that other researchers can use to guide their own futuring sprints. We also highlight how variations of our approach could support other speculative design practices.

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Abstract

Skin is a promising interaction medium and has been widely explored for mobile, and expressive interaction. Recent research in HCI has seen the development of Epidermal Computing Devices: ultra-thin and non-invasive devices which reside on the user’s skin, offering intimate integration with the curved surfaces of the body, while having physical and mechanical properties that are akin to skin, expanding the horizon of on-body interaction. However, with rapid technological advancements in multiple disciplines, we see a need to synthesize the main open research questions and opportunities for the HCI community to advance future research in this area. By systematically analyzing Epidermal Devices contributed in the HCI community, physical sciences research and from our experiences in designing and building Epidermal Devices, we identify opportunities and challenges for advancing research across five themes. This multi-disciplinary synthesis enables multiple research communities to facilitate progression towards more coordinated endeavors for advancing Epidermal Computing.

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Abstract

This paper contributes to a taxonomy of augmented reality and robotics based on a survey of 460 research papers. Augmented and mixed reality (AR/MR) have emerged as a new way to enhance human-robot interaction (HRI) and robotic interfaces (e.g., actuated and shape-changing interfaces). Recently, an increasing number of studies in HCI, HRI, and robotics have demonstrated how AR enables better interactions between people and robots. However, often research remains focused on individual explorations and key design strategies, and research questions are rarely analyzed systematically. In this paper, we synthesize and categorize this research field in the following dimensions: 1) approaches to augmenting reality; 2) characteristics of robots; 3) purposes and benefits; 4) classification of presented information; 5) design components and strategies for visual augmentation; 6) interaction techniques and modalities; 7) application domains; and 8) evaluation strategies. We formulate key challenges and opportunities to guide and inform future research in AR and robotics.

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Abstract

Art is not Research. Research is not Art. is a multimedia, multi-site participatory installation by a collective of artists and researchers from Calgary, Toronto, and Lancaster; it is informed by these contexts. It reflects the tensions between how “participants” are treated in participatory art and interaction research. It offers a framework through which we can explore how epistemologies might evolve in a blending between Art and Research. Visitors download the paper to read, critically reflect on the relationship between art and research, and experientially engage with the material through a series of creative prompts. A performance variation of the piece will be performed in-person and online through the ACM SIGCHI Conference on Human Factors in Computing Systems alt.chi track.

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Abstract

In this paper, we survey the emerging design space of expandable structures in robotics, with a focus on how such structures may improve human-robot interactions. We detail various implementation considerations for researchers seeking to integrate such structures in their own work and describe how expandable structures may lead to novel forms of interaction for a variety of different robots and applications, including structures that enable robots to alter their form to augment or gain entirely new capabilities, such as enhancing manipulation or navigation, structures that improve robot safety, structures that enable new forms of communication, and structures for robot swarms that enable the swarm to change shape both individually and collectively. To illustrate how these considerations may be operationalized, we also present three case studies from our own research in expandable structure robots, sharing our design process and our findings regarding how such structures enable robots to produce novel behaviors that may capture human attention, convey information, mimic emotion, and provide new types of dynamic affordances.

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Abstract

HapticBots introduces a novel encountered-type haptic approach for Virtual Reality (VR) based on multiple tabletop-size shape-changing robots. These robots move on a tabletop and change their height and orientation to haptically render various surfaces and objects on-demand. Compared to previous encountered-type haptic ap- proaches like shape displays or robotic arms, our proposed approach has an advantage in deployability, scalability, and generalizability---these robots can be easily deployed due to their compact form factor. They can support multiple concurrent touch points in a large area thanks to the distributed nature of the robots. We propose and evaluate a novel set of interactions enabled by these robots which include: 1) rendering haptics for VR objects by providing just-in- time touch-points on the user’s hand, 2) simulating continuous surfaces with the concurrent height and position change, and 3) enabling the user to pick up and move VR objects through graspable proxy objects. Finally, we demonstrate HapticBots with various ap- plications, including remote collaboration, education and training, design and 3D modeling, and gaming and entertainment.

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Abstract

We explore how the lens of fictional superpowers can help characterize how visualizations empower people and provide inspiration for new visualization systems. Researchers and practitioners often tout visualizations' ability to “make the invisible visible” and to “enhance cognitive abilities.” Meanwhile superhero comics and other modern fiction often depict characters with similarly fantastic abilities that allow them to see and interpret the world in ways that transcend traditional human perception. We investigate the intersection of these domains, and show how the language of superpowers can be used to characterize existing visualization systems and suggest opportunities for new and empowering ones. We introduce two frameworks: The first characterizes seven underlying mechanisms that form the basis for a variety of visual superpowers portrayed in fiction. The second identifies seven ways in which visualization tools and interfaces can instill a sense of empowerment in the people who use them. Building on these observations, we illustrate a diverse set of “visualization superpowers” and highlight opportunities for the visualization community to create new systems and interactions that empower new experiences with data. Material and illustrations are available under CC-BY 4.0 at osf.io/8yhfz.

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Abstract

In the near future, mixed traffic consisting of manual and autonomous vehicles (AVs) will be common. Questions surrounding how vulnerable road users such as pedestrians in wheelchairs (PWs) will make crossing decisions in these new situations are underexplored. We conducted a remote co-design study with one of the researchers of this work who has the lived experience as a powered wheelchair user and applied inclusive design practices. This allowed us to identify and reflect on interface design ideas that can help PWs make safe crossing decisions at intersections. Through an iterative five-week study, we implemented interfaces that can be placed on the vehicle, on the wheelchair, and on the street infrastructure and evaluated them during the co-design sessions using a VR simulator testbed. Informed by our findings, we discuss design insights for implementing inclusive interfaces to improve interactions between autonomous vehicles and vulnerable road users.

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Abstract

Machine learning and predictive algorithms find patterns in large stores of data and make predictions which corporations and governments use to support decision-making. Yet, the system's representation of reality can be more influential to outcomes than the complexities of daily life. They become problematic when they undermine the inclusivity of public decision making, and when their use perpetuates social or economic inequality. To address these challenges, the public must be able to participate in discourse about the implications of algorithmic systems. I propose a series of participatory installations exploring the impacts of algorithmic systems, providing contexts for active exploration of these concerns. I will conduct phenomenographic interviews to better understand how visitors experience art installations about technical topics, providing insight for subsequent installations. I will consolidate the results into a set of best practices about engaging the public on these topics.

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Abstract

We present I/O Bits, a prototype personal informatics system that explores the potential for user-driven and situated self-tracking. With simple tactile inputs and small e-paper visualizations, I/O Bits are dedicated physical devices that allow individuals to track and visualize different kinds of personal activities in-situ. This is in contrast to most self-tracking systems, which automate data collection, centralize information displays, or integrate into multi-purpose devices like smartwatches or mobile phones. We report findings from an e-paper visualization workshop and a prototype deployment where participants constructed their own I/O Bits and used them to track a range of personal data. Based on these experiences, we contribute insights and opportunities for situated and user-driven personal informatics.

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