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2. Extended Version of GTGraffiti: Spray Painting Graffiti Art from Human Painting Motions with a Cable Driven Parallel Robot

Author

Chen, Gerry, Baek, Sereym, Florez, Juan-Diego, Qian, Wanli, Leigh, Sang-won, Hutchinson, Seth, and Dellaert, Frank

Subjects
Computer Science - Robotics
Abstract

We present GTGraffiti, a graffiti painting system from Georgia Tech that tackles challenges in art, hardware, and human-robot collaboration. The problem of painting graffiti in a human style is particularly challenging and requires a system-level approach because the robotics and art must be designed around each other. The robot must be highly dynamic over a large workspace while the artist must work within the robot's limitations. Our approach consists of three stages: artwork capture, robot hardware, and planning & control. We use motion capture to capture collaborator painting motions which are then composed and processed into a time-varying linear feedback controller for a cable-driven parallel robot (CDPR) to execute. In this work, we will describe the capturing process, the design and construction of a purpose-built CDPR, and the software for turning an artist's vision into control commands. Our work represents an important step towards faithfully recreating human graffiti artwork by demonstrating that we can reproduce artist motions up to 2m/s and 20m/s$^2$ within 9.3mm RMSE to paint artworks. Changes to the submitted manuscript are colored in blue., Comment: Accompanying Details to ICRA 2022 Submission Number 2016

Published
2021
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3. On Eliciting a Sense of Self when Integrating with Computers

Author

Program in Media Arts and Sciences (Massachusetts Institute of Technology), Danry, Valdemar, Pataranutaporn, Pat, Mueller, Florian, Maes, Pattie, Leigh, Sang-won, Program in Media Arts and Sciences (Massachusetts Institute of Technology), Danry, Valdemar, Pataranutaporn, Pat, Mueller, Florian, Maes, Pattie, and Leigh, Sang-won

Published
2022

4. Designing Interactions beyond Conscious Control: A New Model for Wearable Interfaces

Author

Program in Media Arts and Sciences (Massachusetts Institute of Technology), Jain, Abhinandan, Haar Horowitz, Adam, Schoeller, Felix, Leigh, Sang-won, Maes, Pattie, Sra, Misha, Program in Media Arts and Sciences (Massachusetts Institute of Technology), Jain, Abhinandan, Haar Horowitz, Adam, Schoeller, Felix, Leigh, Sang-won, Maes, Pattie, and Sra, Misha

Published
2022

9. Do Cyborgs dream of Electric Limbs? Experiential Factors in Human-Computer Integration Design and Evaluation

Author

Danry, Valdemar, primary, Pataranutaporn, Pat, additional, Haar Horowitz, Adam, additional, Strohmeier, Paul, additional, Andres, Josh, additional, Patibanda, Rakesh, additional, Li, Zhuying, additional, Nakamura, Takuto, additional, Nishida, Jun, additional, Lopes, Pedro, additional, León, Felipe, additional, Won, Andrea Stevenson, additional, Svanæs, Dag, additional, Mueller, Florian Floyd, additional, Maes, Pattie, additional, Leigh, Sang-won, additional, and Semertzidis, Nathan, additional

Published
2021
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11. Latent Sheep Dreaming

Author

Wang, Jiewen, primary, Hsieh, Olivia, additional, Gale, Jack, additional, Sun, Sienna Xin, additional, and Leigh, Sang-won, additional

Published
2020
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12. Motor Memory in HCI

Author

Patibanda, Rakesh, primary, Semertzidis, Nathan Arthur, additional, Scary, Michaela, additional, La Delfa, Joseph Nathan, additional, Andres, Josh, additional, Baytaş, Mehmet Aydin, additional, Martin-Niedecken, Anna Lisa, additional, Strohmeier, Paul, additional, Fruchard, Bruno, additional, Leigh, Sang-won, additional, Mekler, Elisa D., additional, Nanayakkara, Suranga, additional, Wiemeyer, Josef, additional, Berthouze, Nadia, additional, Kunze, Kai, additional, Rikakis, Thanassis, additional, Kelliher, Aisling, additional, Warwick, Kevin, additional, van den Hoven, Elise, additional, Mueller, Florian Floyd, additional, and Mann, Steve, additional

Published
2020
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14. Exploring Human-Machine Synergy and Interaction on a Robotic Instrument

Author

Leigh, Sang-won, Jain, Abhinandan, and Maes, Pattie

Abstract

This paper introduces studies conducted with musicians that aim to understand modes of human-robot interaction, situated between automation and human augmentation. Our robotic guitar system used for the study consists of various sound generating mechanisms, either driven by software or by a musician directly. The control mechanism allows the musician to have a varying degree of agency over the overall musical direction. We present interviews and discussions on open-ended experiments conducted with music students and musicians. The outcome of this research includes new modes of playing the guitar given the robotic capabilities, and an understanding of how automation can be integrated into instrument-playing processes. The results present insights into how a human-machine hybrid system can increase the efficacy of training or exploration, without compromising human engagement with a task.

Published
2019
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15. Guitar Machine: Robotic Fretting Augmentation for Hybrid Human-Machine Guitar Play

Author

Leigh, Sang-won and Maes, Pattie

Abstract

Playing musical instruments involves producing gradually more challenging body movements and transitions, where the kinematic constraints of the body play a crucial role in structuring the resulting music. We seek to make a bridge between currently accessible motor patterns, and musical possibilities beyond those - afforded through the use of a robotic augmentation. Guitar Machine is a robotic device that presses on guitar strings and assists a musician by fretting alongside her on the same guitar. This paper discusses the design of the system, strategies for using the system to create novel musical patterns, and a user study that looks at the effects of the temporary acquisition of enhanced physical ability. Our results indicate that the proposed human-robot interaction would equip users to explore new musical avenues on the guitar, as well as provide an enhanced understanding of the task at hand on the basis of the robotically acquired ability.

Published
2018
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17. Morphology Extension Kit

Author

Leigh, Sang-won, primary, Denton, Timothy, additional, Parekh, Kush, additional, Peebles, William, additional, Johnson, Magnus, additional, and Maes, Pattie, additional

Published
2018
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18. Cord UIs: Controlling Devices with Augmented Cables

Author

Massachusetts Institute of Technology. Media Laboratory, Program in Media Arts and Sciences (Massachusetts Institute of Technology), Sloan School of Management, Schoessler, Philipp, Leigh, Sang-won, van Hoof, Patrick Johan Nicolaas, Ishii, Hiroshi, Jagannath, Krithika, Massachusetts Institute of Technology. Media Laboratory, Program in Media Arts and Sciences (Massachusetts Institute of Technology), Sloan School of Management, Schoessler, Philipp, Leigh, Sang-won, van Hoof, Patrick Johan Nicolaas, Ishii, Hiroshi, and Jagannath, Krithika

Abstract

Cord UIs are sensorial augmented cords that allow for simple metaphor-rich interactions to interface with their connected devices. Cords offer a large underexplored space for interactions as well as unique properties and a diverse set of metaphors that make them potentially interesting tangible interfaces. We use cords as input devices and explore different interactions like tying knots, stretching, pinching and kinking to control the flow of data and/or power. We also look at ways to use objects in combination with augmented cords to manipulate data or properties of a device. For instance, placing a clamp on a cable can obstruct the audio signal to the headphones. Using special materials such as piezo copolymer cables and stretchable cords we built five working prototypes to showcase the interactions described in this paper.

Published
2017

19. Body-Borne Computers as Extensions of Self

Author

Massachusetts Institute of Technology. Media Laboratory, Leigh, Sang-won, Sareen, Harpreet Singh, Kao, Cindy Hsin-Liu, Liu, Xin, Maes, Pattie, Massachusetts Institute of Technology. Media Laboratory, Leigh, Sang-won, Sareen, Harpreet Singh, Kao, Cindy Hsin-Liu, Liu, Xin, and Maes, Pattie

Abstract

The opportunities for wearable technologies go well beyond always-available information displays or health sensing devices. The concept of the cyborg introduced by Clynes and Kline, along with works in various fields of research and the arts, offers a vision of what technology integrated with the body can offer. This paper identifies different categories of research aimed at augmenting humans. The paper specifically focuses on three areas of augmentation of the human body and its sensorimotor capabilities: physical morphology, skin display, and somatosensory extension. We discuss how such digital extensions relate to the malleable nature of our self-image. We argue that body-borne devices are no longer simply functional apparatus, but offer a direct interplay with the mind. Finally, we also showcase some of our own projects in this area and shed light on future challenges.

Published
2017

23. Morphology Extension Kit

Author

Leigh, Sang-won, primary, Parekh, Kush, additional, Denton, Timothy, additional, Peebles, William S., additional, Johnson, Magnus H., additional, and Maes, Pattie, additional

Published
2017
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25. Z-Drawing: A Flying Agent System for Computer-assisted Drawing

Author

Massachusetts Institute of Technology. Media Laboratory, Program in Media Arts and Sciences (Massachusetts Institute of Technology), Leigh, Sang-won, Agrawal, Harshit, Maes, Patricia, Massachusetts Institute of Technology. Media Laboratory, Program in Media Arts and Sciences (Massachusetts Institute of Technology), Leigh, Sang-won, Agrawal, Harshit, and Maes, Patricia

Abstract

We present a drone-based drawing system where a user's sketch on a desk is transformed across scale and time, and transferred onto a larger canvas at a distance in real-time. Various spatio-temporal transformations like scaling, mirroring, time stretching, recording and playing back over time, and simultaneously drawing at multiple locations allow for creating various artistic effects. The unrestricted motion of the drone promises scalability and a huge potential as an artistic medium.

Published
2016

28. L'evolved

Author

Agrawal, Harshit, primary, Leigh, Sang-won, additional, and Maes, Pattie, additional

Published
2015
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30. Z-drawing

Author

Leigh, Sang-won, primary, Agrawal, Harshit, additional, and Maes, Pattie, additional

Published
2015
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31. Demo hour

Author

Leigh, Sang-won, primary, Roseway, Asta, additional, Paradiso, Ann, additional, Kobayashi, Hiroki, additional, Hirose, Michitaka, additional, Fujiwara, Akio, additional, Nakamura, Kazuhiko, additional, Sezaki, Kaoru, additional, Saito, Kaoru, additional, Peterson, Conor, additional, Bongers, Bert, additional, and Heffer, Cecilia, additional

Published
2015
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33. clayodor

Author

Kao, Cindy Hsin-Liu, primary, Dreshaj, Ermal, additional, Amores, Judith, additional, Leigh, Sang-won, additional, Benavides, Xavier, additional, Maes, Pattie, additional, Perlin, Ken, additional, and Ishii, Hiroshi, additional

Published
2015
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34. Cord UIs

Author

Schoessler, Philipp, primary, Leigh, Sang-won, additional, Jagannath, Krithika, additional, van Hoof, Patrick, additional, and Ishii, Hiroshi, additional

Published
2015
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35. THAW

Author

Leigh, Sang-won, primary, Schoessler, Philipp, additional, Heibeck, Felix, additional, Maes, Pattie, additional, and Ishii, Hiroshi, additional

Published
2015
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36. L-Shift

Author

Leigh, Sang-won, primary, van Hoof, Patrick Johan Nicolaas, additional, Jagannath, Krithika, additional, Maes, Pattie, additional, and Ishii, Hiroshi, additional

Published
2015
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37. Coded Lens

Author

Sekikawa, Yusuke, primary, Leigh, Sang-won, additional, and Suzuki, Koichiro, additional

Published
2014
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38. THAW

Author

Leigh, Sang-won, primary, Schoessler, Philipp, additional, Heibeck, Felix, additional, Maes, Pattie, additional, and Ishii, Hiroshi, additional

Published
2014
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39. NailSense

Author

Hwang, Sungjae, primary, Kim, Dongchul, additional, Leigh, Sang-won, additional, and Wohn, Kwang-yun, additional

Published
2013
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43. Body-Borne Computers as Extensions of Self

Author

Pattie Maes, Harpreet Sareen, Xin Liu, Sang-won Leigh, Hsin-Liu Cindy Kao, Massachusetts Institute of Technology. Media Laboratory, Leigh, Sang-won, Sareen, Harpreet Singh, Kao, Cindy Hsin-Liu, Liu, Xin, and Maes, Pattie

Subjects
Multimedia, Computer Networks and Communications, Computer science, business.industry, 05 social sciences, symbiotic interfaces, Human body, computer.software_genre, lcsh:QA75.5-76.95, wearable devices, on-skin interfaces, augmented human, Human-Computer Interaction, 03 medical and health sciences, 0302 clinical medicine, Extension (metaphysics), Human–computer interaction, 0501 psychology and cognitive sciences, lcsh:Electronic computers. Computer science, business, computer, 050107 human factors, 030217 neurology & neurosurgery, Wearable technology
Abstract

The opportunities for wearable technologies go well beyond always-available information displays or health sensing devices. The concept of the cyborg introduced by Clynes and Kline, along with works in various fields of research and the arts, offers a vision of what technology integrated with the body can offer. This paper identifies different categories of research aimed at augmenting humans. The paper specifically focuses on three areas of augmentation of the human body and its sensorimotor capabilities: physical morphology, skin display, and somatosensory extension. We discuss how such digital extensions relate to the malleable nature of our self-image. We argue that body-borne devices are no longer simply functional apparatus, but offer a direct interplay with the mind. Finally, we also showcase some of our own projects in this area and shed light on future challenges.

Published
2016

44. Z-drawing

Author

Sang-won Leigh, Pattie Maes, Harshit Agrawal, Massachusetts Institute of Technology. Media Laboratory, Program in Media Arts and Sciences (Massachusetts Institute of Technology), Leigh, Sang-won, Agrawal, Harshit, and Maes, Patricia

Subjects
Scale (ratio), Computer science, Computer graphics (images), Motion (physics), Sketch, Mirroring, Desk
Abstract

We present a drone-based drawing system where a user's sketch on a desk is transformed across scale and time, and transferred onto a larger canvas at a distance in real-time. Various spatio-temporal transformations like scaling, mirroring, time stretching, recording and playing back over time, and simultaneously drawing at multiple locations allow for creating various artistic effects. The unrestricted motion of the drone promises scalability and a huge potential as an artistic medium.

Published
2015

45. Cord UIs: Controlling Devices with Augmented Cables

Author

Sang-won Leigh, Hiroshi Ishii, Krithika Jagannath, Philipp Schoessler, Patrick Johan Nicolaas van Hoof, Massachusetts Institute of Technology. Media Laboratory, Program in Media Arts and Sciences (Massachusetts Institute of Technology), Sloan School of Management, Schoessler, Philipp, Leigh, Sang-won, van Hoof, Patrick Johan Nicolaas, and Ishii, Hiroshi

Subjects
business.product_category, Audio signal, Computer science, Human–computer interaction, Interface (computing), Input device, InformationSystems_MISCELLANEOUS, business, Simulation, Headphones
Abstract

Cord UIs are sensorial augmented cords that allow for simple metaphor-rich interactions to interface with their connected devices. Cords offer a large underexplored space for interactions as well as unique properties and a diverse set of metaphors that make them potentially interesting tangible interfaces. We use cords as input devices and explore different interactions like tying knots, stretching, pinching and kinking to control the flow of data and/or power. We also look at ways to use objects in combination with augmented cords to manipulate data or properties of a device. For instance, placing a clamp on a cable can obstruct the audio signal to the headphones. Using special materials such as piezo copolymer cables and stretchable cords we built five working prototypes to showcase the interactions described in this paper.

Published
2015

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