Extended Abstracts of the 2018 CHI Conference on Human Factors in Computing Systems
Takayuki Hirai, Satoshi Nakamaru, Yoshihiro Kawahara, Yasuaki Kakehi
Shape-changing interfaces can change their physical appearance according to situations or assigned functions. While various types of shape-changing interfaces have been proposed, it is still challenging to meet the requirements of flexibility for the shape-change and stiffness for bearing load applied on them. Toward this issue, we propose a new system called xSlate, a shape- and scale-changing interface with stiffness control for the surface. It is enabled by a deformable frame structure that consists of linear actuators, and an elastic skin surface that can configure its stiffness by pneumatic jamming. We also developed a touch sensor on xSlate for interactive usage.
In the current implementation, we attached 13 modules of triangular xSlate which use 100 mm stroke actuators and free moving joints. The initial shape can be deformed into the wide variety of shapes by controlling each linear actuator to a different length. Each module can change stiffness individually; therefore, the user can put an object on the table, while changing the shape in other area. The table weigh 12 kilograms in total, the dimension is 6700 mm in both width and length at smallest form, and 9650 mm by 9650 mm in largest form. The table can hold up to approximately 2 kg when it is degassed. We also found that the malleable surface can act more than just a plane surface. For example, it can be pinched by hand and jammed to form a smartphone stand or attached to the bottom of the cup to increase stability.
System overview
Top row: Deformability of the table surface. Middle row: Table can deform in order to reach closer to the user. Bottom row: Table surface can be used as a smart phone stand by deforming the surface before degassing.