Of mice and monkeys: a specialized input device for virtual body animation
I3D '95 Proceedings of the 1995 symposium on Interactive 3D graphics
Building virtual structures with physical blocks
Proceedings of the 12th annual ACM symposium on User interface software and technology
Crystalline Robots: Self-Reconfiguration with Compressible Unit Modules
Autonomous Robots
Information and Computation
Topobo: a constructive assembly system with kinetic memory
Proceedings of the SIGCHI Conference on Human Factors in Computing Systems
Proceedings of the 2004 ACM SIGCHI International Conference on Advances in computer entertainment technology
Glume: exploring materiality in a soft augmented modular modeling system
CHI '06 Extended Abstracts on Human Factors in Computing Systems
roBlocks: a robotic construction kit for mathematics and science education
Proceedings of the 8th international conference on Multimodal interfaces
Siftables: towards sensor network user interfaces
Proceedings of the 1st international conference on Tangible and embedded interaction
Proceedings of the SIGCHI Conference on Human Factors in Computing Systems
Posey: instrumenting a poseable hub and strut construction toy
Proceedings of the 2nd international conference on Tangible and embedded interaction
Exploring architectural robotics with the human hive
Proceedings of the seventh ACM conference on Creativity and cognition
Design of prismatic cube modules for convex corner traversal in 3D
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Evolved and Designed Self-Reproducing Modular Robotics
IEEE Transactions on Robotics
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We are on the verge of realizing a new class of material that need not be machined or molded in order to make things. Rather, the material forms and re-forms itself according to software programmed into its component elements. These self-reconfiguring materials are composed of robotic modules that coordinate with each other locally to produce global behaviors. These robotic materials can be used to realize a new class of artifact: a shape that can change over time, i.e., a four-dimensional shape or a hyperform. Hyperforms present several opportunities: objects such as furniture could exhibit dynamic behaviors, could respond to tangible and gestural input, and end-users could customize their form and behavior. To realize these opportunities, the tangible interaction community must begin to consider how we will create and interact with hyperforms. The behaviors that hyperforms can perform will be constrained by the capabilities of the self-reconfiguring materials they are made of. By considering how we will interact with hyperforms, we can inform the design of these systems. In this paper, we discuss the life cycle of a hyperform and the roles designers and end-users play in interacting with hyperforms at these various stages. We consider the interactions such a system could afford as well as how underlying hardware and software affect this interaction. And we consider the extent to which several current hardware systems, including our own prismatic cubes (Weller et聽al. in Intelligent Robots and Systems. IEEE, 2009), can support the hyperform interactions we envision.