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Data-physicalizations encode data and meaning through geometry or material properties, providing a non-planar view of data, offering novel opportunities for interrogation, discovery and presentation. This field has explored how single users interact with complex 3D data, but the challenges in the application of this technology to collaborative situations have not been addressed. We describe a study exploring interactions and preferences among co-located individuals using a dynamic data-physicalization in the form of a shape-changing bar chart, and compare this to previous work with single participants. Results suggest that co-located interactions with physical data prompt non-interactive hand gestures, a mirroring of physicalizations, and novel hand gestures in comparison to single participant studies. We also note that behavioural similarities in participants between interactive tabletop studies and data-physicalizations may be capitalised upon for further development of these dynamic representations. Finally, we consider the implications and challenges for the adoption of these types of platforms.

Smartwearable solutions for social distancing have appeared duringthe Covid-19 pandemic with various types of outputs often directedonly to the wearer or if directed to others, the visual output isusually displayed on the front side of the wearers body. This paperpresents instead a design, implementation, and in-the-wild Wizardof Oz evaluation of a backpack with shape-changing accessorywhich output is directed to others approaching the wearer frombehind. Qualitative findings from six participants suggest that thereis potential in shape-changing accessory for keeping social distancein public context, however, the social acceptability issues caused bynoisy motors and inclusiveness of the design limit the willingness towear it. Even though the study was inspired by the Covid-19, othernon-pandemic use cases for personal space respecting wearablesare discussed also for users with special needs.

Static tactile paving provides haptic cues to pedestrians through physical bumps in the form of raised dots and stripes, which are felt through the shoes indicating sidewalk orientation and intersections. FeetBack is a new form of active tactile paving that changes shape to direct people in public spaces. First, we present a qualitative study that guided the hardware development, design of actuation patterns, and identified the most recognizable patterns. Secondly, we conducted a quantitative study to measure the response time to directional haptic cues. All participants could easily recognize and respond to directional haptic cues in under one second, while directional responses added 150ms on average. We also tested whether similar results can be observed when participants' attention is divided while performing a reading task, however, we did not find any significant effect of this cognitive load on response time. We discuss the results in relation to other modalities and provide interaction scenarios and future research directions for active tactile paving and floor-based feedback.

MoLux is a shape-changing lamp designed to address some of the grand challenges in shape-changing interfaces (SCI). This includes the challenges of understanding the user experience, integrating interaction into the artefact, and conducting in-situ comparative studies with SCI. MoLux uses bi-directional and direct interaction, deploys shape-change for input and output, and enables manipulation of two independent shape-changing parameters. Through an in-situ study, we investigated how users experienced living with MoLux over four days. The study compared three different interaction paradigms; direct, indirect, and negotiated control. Our findings reveal that most users preferred negotiated interaction as well as enjoyed living with the shape-changing lamp. Our results further contribute some methodological lessons and implications for designing SCI for the home.

In this paper, we investigate the use of shape-change for interaction with sound zones. A core challenge to designing interaction with sound zone systems is to support users' understanding of the unique spatial properties of sound zones. Shape-changing interfaces present new opportunities for addressing this. We present a structured investigation into this. We leveraged the knowledge of 12 sound experts to define a set of basic shapes and movements. Then, we constructed a prototype and conducted an elicitation study with 17 novice users, investigating the experience of these shapes and movements. Our findings show that physical visualizations of sound zones can be useful in supporting users' experience of sound zones. We present a framework of 4 basic pattern categories that prompt different sound zone experiences and outline further research directions for shape-change in supporting sound zone interaction.

Within the last years, several use-cases for Elastic Displays have been explored, showing the potential for this novel technology. However, one of the shortcomings of this type of interface is that it is not possible to provide active haptic feedback to the user. This feature is limited to actuated displays, which in turn are much more complex to build, more expensive, less robust and portable. In this paper, we describe another approach to provide basic active haptic feedback for Elastic Displays by using vibration motors.We explore different options for vibrotactile feedback and describe the results of a student project in which some of the concepts were realized as part of a small game prototype.

International audience; Shape-changing User Interfaces (UIs) explore the ability of a UI to change its physical shape to support multiple interaction modalities for users’ input and/or system’s output. An approach currently studied to implement such interfaces at a high resolution is based on mm-sized, round, and self-actuated modules. The problem we tackle in this paper is to find the range of usable sizes of such modules, to better inform the trade-off between usability and technological feasibility. We assessed four sliders in a controlled user study: a standard slider and three sliders made of mock-up rounded modules of ø1 mm, ø2.5 mm, and ø5 mm. Experimental results show that (1) ø5 mm modules significantly impair performance for the pursuit task and subjective perception for both tasks, (2) performance increases when the size of modules decreases, but (3) users reportedly enjoyed the haptic feedback provided by ø1 mm to ø2.5 mm modules. These results provide deeper understanding on the impact of the size of modules on performance and subjective perception to inform current technological development of physical user interfaces made of small robotic modules.

International audience; In recent years, many aircraft manufacturers have proposed inno-vative cockpit concepts based on touchscreens. Although having alarge number of advantages, this type of solution suffers from severelimitations in operational use, in particular, eyes-free interactionis nearly impossible and touchscreens are extremely complex touse during turbulent conditions. We examined the contribution ofphysicality to overcome these weaknesses by introducing a shape-changing touchscreen that offers folds on which the user hand canrest. This surface has been assessed in simulator during pilotingconditions that varied in terms of turbulences and mental workload.Results showed that the folds helped reducing physical effort bystabilizing the arm and hand. This physicality was also associatedwith better performance in the piloting task, as well as with bettersituational awareness of the state of the aircraft’s systems, mostcertainly because the shapes offered by the folds had better visualproperties (salience), making their monitoring less expensive interms of attentional resources.; Ces dernières années, de nombreux constructeurs aériens ont pro-posé des concepts de cockpit basés sur des écrans tactiles. Bien que très avantageux, ce type de solution souffre de sévères limitationse rme et offrant des plis sur lesquels les mains peuvent se reposer.Cette surface a été évaluée en simulateur au cours de conditions depilotages variables en termes de turbulences et de charge mentale.Les résultats ont montré que le fait de disposer de plis permettait une réduction de l’effort physique en stabilisant le bras et la main.Cette physicalité était également associée à de meilleures performances de pilotage, ainsi qu’à une meilleure conscience de l’état des systèmes de l’avion, certainement parce que les formes offertes par les plis présentaient de meilleures propriétés visuelles

International audience; In the last decade, HCI research has proposed promising technologies for shape-changing interfaces. The usefulness and the user experience of shape-change are, however, still to be explored and understood. This paper extends the understanding of the potential utility and usability of axisymmetric shape-change. First, we present 16 potential use cases for a cylindrical shape-changing display. Second, we present a two-month comparative field study in the workplace. Six participants had to shift energy consumption by using energy storage. To do so, they were notified about local energy forecasts. Compared with flat-screen animations, early results show that cylindrical shape-change animations keep a better attractiveness over time.

6 pages; International audience; In the last decade, HCI research has proposed promising technologies for shape-changing interfaces. The usefulness and the user experience of shape-change are, however, still to be explored and understood. This paper extends the understanding of the potential utility and usability of axisymmetric shape-change. First, we present 16 potential use cases for a cylindrical shape-changing display. Second, we present a two-month comparative field study in the workplace. Six participants had to shift energy consumption by using energy storage. To do so, they were notified about local energy forecasts. Compared with flat-screen animations, early results show that cylindrical shape-change animations keep a better attractiveness over time.

Tabletop interactions can support various social activities such as collaborative review of dynamic sales information in the business setting or route planning with an interactive map among others. Sharing control between users of interactive surfaces can be difficult to ensure participation and efficiency for co-located contexts. We explore the differences between two modalities for interacting with a tabletop map including interactions with a voice assistant and tangible interactions with a shape-changing controller. To simulate a shared goal-oriented situation, we use the context of shared autonomous mobility and compare the tangible controller with voice input through simulated tasks of route planning and detours. The findings suggest that the most suitable interaction modality depends on user preferences, scenarios, and contexts. Tangible controls work well for communicating the state of the system and facilitating discussion, while voice can be more pragmatic and task oriented.

International audience; The HCI community has a strong and growing interest in shape-changing interfaces (SCIs) that can offer dynamic af-fordance. In this context, there is an increasing need for HCI researchers and designers to form close relationships with disciplines such as robotics and material science in order to be able to truly harness the state-of-the-art in morphing technologies. To help these synergies arise, we present Morphino: a card-based toolkit to inspire shape-changing interface designs. Our cards bring together a collection of morphing mechanisms already established in the multidisciplinary literature and illustrate them through familiar examples from nature. We begin by detailing the design of the cards, based on a review of shape-change in nature; then, report on a series of design sessions conducted to demonstrate their usefulness in generating new ideas and in helping end-users gain a better understanding of the possibilities for shape-changing materials.

This paper presents an evaluation of DynaKnob: a dynamic rotary knob that uses the relationship between physical shape and haptic force feedback to provide feedback about its functionality. It has the ability to morph into four distinct shapes whilst providing dynamic haptic force feedback. We explore how shape change and haptic force feedback can improve interactions by evaluating the DynaKnob in terms of usability, user experience and performance. Additionally, we look at how interaction techniques are influenced by these modalities. Results indicate that multimodal cues provided by haptic force feedback and different shapes did not improve usability, since the visual feedback provided by the GUI dominated the evaluated context. However, both modalities had a positive effect on the user experience, and showed potential to improve the performance in terms of accuracy for non-visual interaction.

Shape-changing interfaces bring flexibility in physical interfaces through by transforming computational devices into any shape or materiality. Shape-changing interfaces will be increasingly available to end-users in the future, along with technology development. However, we know little about design criteria of shape-changing interfaces for end-users, especially for whom use parameter control interfaces. Parameter control interfaces are often designed based on existing examples such as dials and sliders, and there were few studies to understand user needs behind their usage. On the other hand, there are shape-changing interface taxonomies that allow designers to explore design ideas of shape-changing interfaces systematically, but they are hardly evaluated. In this thesis, I discuss my Ph.D. work investigating the two areas of HCI: parameter control interfaces and shape-changing interfaces. I first conduct a formative study to suggest design requirements for parameter control interfaces based on users’ current practice. Second, I refine a shape-changing interface taxonomy by evaluating its descriptive power by using everyday reconfigurable objects. Lastly, I look into the intersection of the parameter control interfaces and shape-changing interfaces. I develop two case studies: KnobSlider, a shape-changing interface that can be a knob or a slider, and ExpanDial, a rotational control that extends the interaction modality through shape-changes.; Les interfaces à changement de forme apportent de la flexibilité aux interfaces physiques en transformant les dispositifs de calcul en n’importe quelle forme ou matérialité. Les interfaces à changement de forme seront de plus en plus accessibles aux utilisateurs finaux à l’avenir, parallèlement au développement technologique. Cependant, nous savons peu de choses sur les critères de conception des interfaces à changement de forme pour les utilisateurs finaux, en particulier pour ceux qui utilisent des interfaces de contrôle des paramètres. Les interfaces de contrôle des paramètres sont souvent conçues sur la base d’exemples existants tels que des cadrans et des curseurs, et peu d’études ont été menées pour comprendre les besoins des utilisateurs derrière leur utilisation. D’autre part, il existe des taxonomies d’interfaces à changement de forme qui permettent aux concepteurs d’explorer systématiquement les idées de conception d’interfaces à changement de forme, mais elles ne sont guère évaluées. Dans cette thèse, je discute de mon travail de doctorat qui étudie les deux domaines de l’IHM : les interfaces de contrôle des paramètres et les interfaces à changement de forme. Je mène d’abord une étude formative pour suggérer des exigences de conception pour les interfaces de contrôle des paramètres en fonction de la pratique actuelle des utilisa- teurs. Ensuite, j’affine une taxonomie d’interface à changement de forme en évaluant son pouvoir descriptif à l’aide d’objets quotidiens reconfigurables. Enfin, j’étudie l’intersection des interfaces de contrôle des paramètres et des interfaces à changement de forme. Je développe deux études de cas : KnobSlider, une interface à changement de forme qui peut être un bouton ou un curseur, et ExpanDial, une commande de rotation qui étend la modalité d’interaction par des changements de forme.

Waste sorting is getting gradually important as we produce growing amounts of waste every year. However, waste sorting has proven to be challenging due to waste complexity and lack of motivation and knowledge among citizens. In particular, waste sorting in public spaces has been found to be difficult. We present a study on waste sorting in public spaces with an automatic waste sorting bin called Waste Wizard. Waste Wizard uses machine learning to classify and sort waste. We deployed it in three public contexts: a zoo, a retail store, and a music festival. Our findings show how practices, knowledge and attitudes influence the complicated process of public waste sorting. Users also displayed playfulness in their interaction and furthermore generated ideas and wishes for public waste sorting. We discuss our findings regarding current work within sustainable HCI and implications for public waste sorting.

Tangible Interaction in collaborative scenarios represents a natural und intuitive way to explore and discuss complex issues in a playful way, supporting communication, negotiation and teamwork. We present a concept for Elastic Displays to support decision-making processes in the context of civil engineering construction planning, related to the research context of Building Information modelling techniques. This involves the exploration of spatial issues, as well as identifying changes to the project schedule and cost plan. We use the power of Elastic Displays to quickly explore semantic and time layers in complex maps and uses them in conjunction with an integrated overview of the project timeline and cost overview. Furthermore, we discuss some gestures used for interacting with the Zoomable User Interface and navigate Layered Visualizations with magic lenses. Finally, we discuss our findings from the implemented prototype and share some thoughts on future work for Zoomable UIs on Elastic Displays.

Current transformational developments in automotive user interface (UI) technology are causing a shift in emphasis from safety and efficiency to emotion and flexibility. The many factors to consider in parallel make this a difficult process, in which technological affordances all too easily push the user to the background. To address this issue, this paper introduces an interaction model linking the different tangible control elements, including smartphone functionality, and shows how non-driving-related activities (e.g. climate control, multimedia access) can be represented physically. Next, a working prototype is presented that supports the design and development of novel tactile UIs. By integrating layers of sensors and actuators, a flexible UI is created that pushes technology to the background, giving proper attention to the user again and enabling effective research on how to make the digital world tangible for users.

In this paper, we present three speculative scenarios that explore the future of living with shape-changing interfaces. Each scenario is concerned with one area of this potential future. Three areas, which originated in a workshop with 25 researchers, are considered: 1) shape as a service, 2) security and trust, and 3) personalization and materiality. Each scenario is critically reflected. We use speculative scenarios as an evocative way of illustrating future possibilities, beyond the limitations of current technology. We point to future challenges that the research community needs to address, so that shape-changing interfaces can successfully venture out, into people’s homes and lives.

International audience; Professionals such as sound engineers or aircraft pilots heavily use physical knobs and sliders on their interfaces. The interfaces have advantages over touchscreen interfaces, especially when the users need to quickly and eyes-freely respond to changing situations such as when musicians are improvising, or there is smoke in a cockpit. However, unlike touchscreen interfaces, the physical interfaces are often bulky and crowded and lack of adaptability to user preferences or small spaces. To have advantages from both physical and touchscreen control interfaces, we explore design space of control interfaces and suggest design guidelines in the following steps. We first conduct a formative study with eight professionals who use knobs and sliders. Based on their feedback, we propose design requirements for future parameter control interfaces. We then introduce the design of the KnobSlider, a shape-changing device that combines the advantages of a physical knob and a slider in a time-and space-multiplexing way. To increase users' acceptance on shape-changing control interfaces, we investigate subjective preference on speed of shape-changes by using pairwise comparison with different maximum speeds. We also investigate how tangibility-showing KnobSlider on a video or showing it in the physical world-affects users preference and suggest speed design guidelines for future studies.

Despite the advantages of tangible interaction, physical controls like knobs seem to be disappearing from a wide range of products in our everyday life. The work presented in this paper explores how physical controls can become dynamic, in terms of both shape, and haptic force feedback. The paper contains two strands of work: First, we present a study that explores the relationship between haptic force feedback and different knob shapes, evaluating twelve distinct haptic stimuli in relation to six widely used knob shapes. Second, based on the insights collected in the study, we present the design of DynaKnob, a shape changing knob that can change between four different knob shapes. DynaKnob illustrates how dynamic content control, can be combined with dynamic shape and force feedback. Both the study and the design of DynaKnob contribute to understanding how adaptive physical interface controls could be designed in the future.

Part 4: Interaction Techniques for Writing and Drawing; International audience; Shape-changing interfaces use physical change in shape as input and/or output. As the field matures, it will move from technology-driven design toward more formal processes. However, this is challenging: end-users are not aware of the capabilities of shape-change, devices are difficult to demonstrate, and presenting single systems can ‘trap’ user-thinking into particular forms. It is crucial to ensure this technology is developed with requirements in mind to ensure successful end-user experiences. To address this challenge, we developed and tested (n = 50) an approach that combines low-fidelity white-box prototypes and high-fidelity video footage with end-user diagram and scenario sketching to design context dependent devices. We analysed the outputs of our test process and identified themes in device design requirements, and from this constructed a shape-change stack model to support practitioners in developing, classifying, and synthesising end-user requirements for this novel technology.

In the middle of public and collective spaces, cylindrical displays inform users around them.We question the utility and the usability of dynamic revolution symmetry for shape-changing cylindrical displays. We present CairnFORM, a prototype of cylindrical display that can change its revolution symmetry using a modular stack of expandable illuminated rings.We show that revolution symmetry is usable for informing users through data physicalization: We observe with a 10-ring CairnFORM that a physical ring chart is more efficient for a range task and for a compare task rather than for an order task. We show that revolution symmetry change is usable for unobtrusively notifying users through peripheral interaction: We observe with a 1-ring CairnFORM that a ring diameter change with exponential speed is perceived more often and calmer in the periphery of attention rather than with a constant speed or a logarithmic speed.We show that cylindrical displays with dynamic revolution symmetry offer a greater user experience over time than planar displays: After two months in context of use in a workplace, we observe that CairnFORM is as pragmatic as a flat screen but more hedonic than a flat screen. We study a use case for displays in the workplace: Helping employees to shift laptop battery charge to peak hours of local renewable energy production.; Au milieu des espaces collectifs et publics, les afficheurs cylindriques informent les utilisateurs autour d'eux. Nous questionnons l'utilité et l'utilisabilité de la symétrie dynamique de révolution pour les afficheurs cylindriques à changement de forme. Nous présentons CairnFORM, un prototype d'afficheur cylindrique capable de changer de symétrie de révolution à l'aide d'une pile modulaire d'anneaux extensibles illuminés. Nous montrons que la symétrie de révolution est utilisable pour informer les utilisateurs par physicalisation des données : nous observons avec un CairnFORM à 10 anneaux qu'un histogramme à anneaux physiques est plus efficace pour une tâche d'intervalle et une tâche de comparaison plutôt que pour une tâche d'ordonnancement. Nous montrons que le changement de symétrie de révolution est utilisable pour notifier sans déranger les utilisateurs par interaction périphérique : nous observons avec un CairnFORM à 1 anneau que le changement de diamètre d'un anneau avec une vitesse exponentielle est perçu plus souvent et plus calmement en périphérie de l'attention plutôt qu'avec une vitesse constante ou logarithmique. Nous montrons que les afficheurs cylindriques à symétrie dynamique de révolution offrent une expérience utilisateur sur la durée supérieure aux afficheurs planaires : après deux mois en contexte d'usage sur un lieu de travail, nous observons que CairnFORM est aussi pragmatique mais plus hédonique qu'un écran plat. Nous étudions un cas d'usage pour les afficheurs sur le lieu de travail, c'est-à-dire aider les employés à décaler le chargement de batterie des ordinateurs portables vers les heures de pic de production locale d'énergie renouvelable.

This article characterizes actuation techniques for generating movement in shape-changing displays with physically reconfigurable geometry. To date, few works in Human Computer Interaction literature provide detailed and reflective descriptions of the implementation techniques used in shape-changing displays. This hinders the rapid development of novel interactions as researchers must initially spend time understanding technologies before prototyping new interactions and applications. To bridge this knowledge gap, we propose a taxonomy that classifies actuator characteristics and simplifies the process for designers to select appropriate technologies that match their requirements for developing shape-displays. We scope our investigation to linear actuators that are used in grid configurations. The taxonomy is validated by (a) examining current implementation techniques of motorized, pneumatic, hydraulic, magnetic, and shape-memory actuators in the literature, (b) constructing prototypes to address limited technical details and explore actuator capabilities in depth, (c) describing a use-case scenario through a case study that details the construction of a 10 ? 10 actuator shape-display, and (d) a set of guidelines to aid researchers in selecting actuation techniques for shape-changing applications. The significance of our taxonomy is twofold. First, we provide an original contribution that enables HCI researchers to appropriately select actuation techniques and build shape-changing applications. This is situated amongst other past works that have investigated broader application scenarios such as a shape-changing vocabulary, a framework for shape transformations, material properties, and technical characteristics of various actuators. Second, we carry out in-depth investigations to validate our taxonomy and expand the knowledge of vertical actuation in shape-changing applications to enable rapid development.

Démonstrations; International audience; We describe CairnFORM, a shape-changing cylindrical display that physicalizes forecasts of renewable energy availability. CairnFORM is 360 ̊-readable, and as a dynamic physical ring chart, it can change its cylindrical symmetry with quiet motion. This paper presents the fabrication and the functioning of our prototype.; Nous décrivons CairnFORM, conçu comme un afficheur cylindrique à changement de forme permettant de physicaliser les prévisions de disponibilités d’énergie renouvelable. CairnFORM est lisible à 360 ̊ et peut, entant qu’histogramme circulaire animé, changer sa symétrie cylindrique de manière douce. Cet article présente la réalisation et le fonctionnement de notre prototype.

International audience; An increasing number of domains, including aeronautics, are adopting touchscreens. However, several drawbacks limit their operational use, in particular, eyes-free interaction is almost impossible making it difficult to perform other tasks simultaneously. We introduce GazeForm, an adaptive touch interface with shape-changing capacity that offers an adapted interaction modality according to gaze direction. When the user’s eyes are focused on interaction, the surface is flat and the system acts as a touchscreen. When eyes are directed towards another area, physical knobs emerge from the surface. Compared to a touch only mode, experimental results showed that GazeForm generated a lower subjective mental workload and a higher efficiency of execution (20% faster). Furthermore, GazeForm required less visual attention and participants were able to concentrate more on a secondary monitoring task. Complementary interviews with pilots led us to explore timings and levels of control for using gaze to adapt modality.

International audience; Sliders are widely used on mobile devices. Envisioning mobile devices that can dynamically deform to raise tangible controls from the screen surface, tangible sliders offer the benefit of eyes-free interaction. However, reaching for distant values with one hand is problematic: users namely need to change their handgrip, which is not comfortable. To overcome this problem, this paper sets out to experimentally study an extendable tangible slider to support one-handed clutching. The tangible slider's knob extends to maintain the thumb's movement within its comfortable area. We first built a low-fidelity prototype made of a knob long enough to allow clutching. This low-fidelity prototype significantly improves performance when reaching distant targets, as compared to a standard tangible slider. We then built a higher-fidelity prototype, introducing actuation and allowing for a shorter knob. When used for clutching, the knob moves back towards the users' thumb. Experimental results show that the motion of the actuated knob does not interrupt eyes-free interaction during manipulation. In comparison, a graphical extendable slider performed 0.9s slower due to the required visual attention. However, the results suggest that the motion of the actuated knob affects performance, as the higher-fidelity prototype performed 0.6s slower than the low-fidelity prototype.