AeroRigUI

2023

Actuated Tangible User Interfaces with Swarm Robotics on Ceiling Surfaces in Everyday Space

In Proc. ACM Conference on Human Factors in Computing Systems (CHI 2023)

OVERVIEW

AeroRigUI is an actuated tangible user interface for 3D spatial and tangible interaction. Using strings controlled by self-propelled swarm robots with a reeling mechanism on ceiling surfaces, our approach enables rigging (control through strings) of physical objects’ position and orientation in the air. Inspired by rigging techniques in theater and stage performances, AeroRigUI takes advantage of string-based actuation for novel interaction design in 3D space to create dynamic physical affordances, 6 DoF object control, 3D information display, and haptic interactions. Utilizing the ceiling, an often underused area of the room, AeroRigUI can be applied for a range of applications such as room organization, data physicalization, and animated expressions.

DESIGN SPACE

RIGBOT

We prototyped RigBots, which are self-propelled swarm robot modules that move along the aerial support stage and control the strings with their included reeling mechanism. Multiple RigBots can be controlled simultaneously, and they can move and rotate to control the string's location and length.

First Prototypes

These are some initial prototypes of RigBot, developed between June - August 2022.

Final Prototype

Next Steps
The current RigBot consists of toios robots, off-the-shelf robots developed by Sony, with mechanical shells to give its features. After we submitted the paper, I decided to disassemble the toio robot, and I added custom magnetic wheels to improve its stability and payload capacity.