Yasuaki Kakehi

The University of Tokyo | Todai · Graduate School of Interdisciplinary Information Studies

SHORT PAPER. The effects of a hierarchical relationship of humans with non-humans are now more pronounced than ever. Anthropogenic ecological stressors, including high levels of carbon dioxide, water scarcity, habitat fragmentation have led to disruption of climate systems, in turn endangering many local and global species. ephemera is an installat...

SHORT PAPER. The recent progress of modern science has enabled us to detect the physiological status of organisms through their bioelectric activity; this technique has been constantly applied to contemporary media art. However, exploring plants as a subject and allowing them to interpolate and hence perform art through biosignals remains to be fur...

Seamlessly fusing fashion and functionality can redefine wearable technology and enhance the quality of life. We propose a pocketable and smart electrohydrodynamic pump (PSEP) with self-sensing capability for wearable thermal controls. Overcoming the constraints of traditional liquid-cooled wearables, PSEP with dimensions of 10 × 2 × 1.05 cm and a...

Soft sensors made of deformable materials, that are capable of sensing touches or gestures, have attracted considerable attention for use in tangible interfaces or soft robotics. However, to achieve multimodal gesture detection with soft sensors, prior studies have combined multiple sensors or utilized complex configurations with multiple wires. To...

Despite the recent growth in popularity of personal mobility devices (e.g., e-scooters and e-skateboards), they still suffer from limited safety and narrow design form factors, due to their rigid structures. On the other hand, inflatable interfaces studied in human-computer interaction can achieve large volume change by simple inflation/deflation....

Conventional planar pneumatic actuators have not been able to make the most of their thin, lightweight, and flexible nature due to tubes and pumps inevitably connected to them. In this article, we build upon our prior work and propose Liquid Pouch Motors, a family of printable soft actuators that consist of one or more gas-tight bladders (called po...

Hands-on exploration with robotics has been developed as a tool for creativity, but there are limitations with regard to accessibility. As a new method of creative and pervasive exploration for children and students, we propose a workshop using inflatable soft robots with short video recipes and onomatopoeia as a prompt. This method does not requir...

Large-scale shape-changing interfaces have great potential, but creating such systems requires substantial time, cost, space, and efforts, which hinders the research community to explore interactions beyond the scale of human hands. We introduce modular inflatable actuators as building blocks for prototyping room-scale shape-changing interfaces. Ea...

We introduce shape-changing swarm robots. A swarm of self-transformable robots can both individually and collectively change their configuration to display information, actuate objects, act as tangible controllers, visualize data, and provide physical affordances. ShapeBots is a concept prototype of shape-changing swarm robots. Each robot can chang...

This paper introduces LiftTiles, a modular and reconfigurable room-scale shape display. LiftTiles consist of an array of retractable and inflatable actuator that is compact (e.g., 15cm tall) and light (e.g., 1.8kg), while extending up to 1.5m to allow for large-scale shape transformation. Inflatable actuation also provides a robust structure that c...

We introduce shape-changing swarm robots. A swarm of self-transformable robots can both individually and collectively change their configuration to display information, actuate objects, act as tangible controllers, visualize data, and provide physical affordances. ShapeBots is a concept prototype of shape-changing swarm robots. Each robot can chang...

We introduce MorphIO, entirely soft sensing and actuation modules for programming by demonstration of soft robots and shape-changing interfaces.MorphIO's hardware consists of a soft pneumatic actuator containing a conductive sponge sensor.This allows both input and output of three-dimensional deformation of a soft material.Leveraging this capabilit...

We present FoldTronics, a 2D-cutting based fabrication technique to integrate electronics into 3D folded objects. The key idea is to cut and perforate a 2D sheet to make it foldable into a honeycomb structure using a cutting plotter; before folding the sheet into a 3D structure, users place the electronic components and circuitry onto the sheet. Th...

2019 Association for Computing Machinery. We present FoldTronics, a 2D-cutting based fabrication technique to integrate electronics into 3D folded objects. The key idea is to cut and perforate a 2D sheet to make it foldable into a honeycomb structure using a cutting plotter; before folding the sheet into a 3D structure, users place the electronic c...

We present FoldTronics, a 2D-cutting based fabrication technique to integrate electronics into 3D folded objects. The key idea is to cut and perforate a 2D sheet to make it foldable into a honeycomb structure using a cutting plotter; before folding the sheet into a 3D structure, users place the electronic components and circuitry onto the sheet. Th...

We present FoldTronics, a 2D-cutting based fabrication technique to integrate electronics into 3D folded objects. The key idea is to cut and perforate a 2D sheet using a cutting plotter to make it foldable into a 3D honeycomb structure; before folding, users place the electronic components and circuitry onto the sheet. The fabrication process only...

We propose BlowFab, a prototyping method used to create a 2.5- dimensional prototype in a short time by combining laser cutting and blow molding techniques. The user creates adhesive areas and inflatable areas by engraving and cutting multilayered plastic sheets using a laser cutter. These adhesive areas are fused automatically by overlapping two c...

In this paper, we present an approach to realize the levitation of a small object with an embedded electronic circuit. Luciola is a light-emitting particle with a diameter of 3.5mm and a weight of 16.2mg moving in mid-air. The novelty of this paper is the ultrasonically levitated electronic object powered by resonant inductive coupling. To enable t...

In this paper, we propose a method to create 3D inflatable objects by laminating plastic layers. AccordionFab is a fabrication method in which the user can prototype multi-layered inflatable structures rapidly with a common laser cutter. Our key finding is that it is possible to selectively weld the two uppermost plastic sheets out of the stacked s...

This paper introduces Dynamic 3D Printing, a fast and reconstructable shape formation system. Dynamic 3D Printing can assemble an arbitrary three-dimensional shape from a large number of small physical elements. Also, it can disassemble the shape back to elements and reconstruct a new shape. Dynamic 3D Printing combines the capabilities of 3D print...

In this research, we propose a system which makes paper through additive manufacturing process by using a dispenser mounted on XY plotter. By using our system, graphic designers can design and output paper itself which is hard in an existing paper production process. This time, we designed and implemented a machine for fabricating paper and created...

In this paper, we propose a new system called xSlate, a stiffness controlled surface for shape changing interfaces. 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 describe the implementation methods of xSlate and how it can be use...

We propose a new method for shape- and color-changing display called COLORISE. Our 'COLORISE' system has inflatable shape changing pixels that can change their colors without using any light-emitting type devices. The array of the modules enables various color patterns, making full use of the characteristics of the material. Each pixel also has a t...

We are increasingly offloading a lot of our mental and subjective tasks to machines. Over the last few years, with advances in machine learning, especially in deep learning, machines are becoming increasingly capable of modeling and being more intimately involved in our everyday tasks. Though a lot of the tasks we do today are related with manipula...

In this paper, we propose a new method of communication with a remote partner. The system, which we call "Paralogue" (parasitic + dialogue), utilizes the user's arm and a hand as an avatar that represents the remote conversation partner. This method is realized by controlling the movement of the user's arm with electrical muscle stimulations(EMS) a...

In this paper, we present an approach to realize the levitation of a small object with an embedded electronic circuit. Luciola is a light-emitting particle with a diameter of 3.5mm and a weight of 16.2mg moving in mid-air in a 10.4cm x 10.4cm x 5.4cm space through acoustic levitation using two 40-kHz 17 x 17 ultrasonic transducer arrays placed face...

This study proposes BlowFab, a prototyping method used to create a 2.5-dimensional prototype in a short time by combining laser cutting and blow molding techniques. The user creates adhesive areas and inflatable areas by engraving and cutting multilayered plastic sheets using a laser cutter. These adhesive areas are fused automatically by overlappi...

Here we report the new soft sensor "FoamSense" that can measure the deformation state of a volumetric soft object such as compressed, bent, twisted and sheared (Figure 1). This sensor is made by impregnating a porous soft object with conductive ink. The design process of FoamSense is explained. We then summarized the features and basic characterist...

In this research we propose a new method for typeface design that incorporates the chronological change of physical materials as the algorithm, and interventions by the environment and users as variables to determine the typeface shape in the design. We have focused on physical materials and phenomena with different time scales, such as vaporizatio...

Recently the availability of fabrication tools such as 3D printers have become widespread, and prototyping tools that can print solid objects, such as an electric circuit, have been developed using a conductive filament. However, digital fabrication techniques for 3D objects are still in the process of development. For instance, the printing speed...

In this paper, we propose a novel fabrication machine called ProtoMold, which uses interactive vacuum forming system for rapid prototyping. ProtoMold combines a dynamical shape-changing surface that consists of 12 × 8 linear actuators and a vacuum forming system. According to the shape of the surface, this system can mold various 2.5 dimensional ob...

In this paper we present Organic Primitives, an enabling toolbox that expands upon the library of input-output devices in HCI and facilitates the design of interactions with organic, fluid-based systems. We formulated color, odor and shape changing material primitives which act as sensor-actuators that convert pH signals into human-readable outputs...

Printflatables is a design and fabrication system for human-scale, functional and dynamic inflatable objects. We use inextensible thermoplastic fabric as the raw material with the key principle of introducing folds and thermal sealing. Upon inflation, the sealed object takes the expected three dimensional shape. The workflow begins with the user sp...

The aim of this project is to design and demonstrate the future of information environment where people get together. Personal computers and smart devices have succeeded in augmenting the ability of each person. At now, even when people meet at a place, they tend to gaze at their own displays. As a result, they cannot concentrate on face-to-face co...

Many wearable devices for monitoring and maintaining the oral environment are proposed these days. However, the conventional energy supplying method is not practical since the constraint of size and usage. The remarkable progress of the technology about energy harvesting and low power computing have made it possible to develop the small wearable de...

The rapid proliferation of digital fabrication machines has resulted in creating an environment that enables more people to make various creations. From a viewpoint of Human Computer Interaction, it is often pointed out that interfaces bridging between works in the digital environment and the physical environment are necessary to support design for...

The rapid proliferation of digital fabrication machines has resulted in creating an environment that enables more people to make various creations. From a viewpoint of Human Computer Interaction, it is often pointed out that interfaces bridging between works in the digital environment and the physical environment are necessary to support design for...

In this paper we present Organic Primitives, an enabling toolbox that expands upon the library of input-output devices in HCI and facilitates the design of interactions with organic, fluid-based systems. We formulated color, odor and shape changing material primitives which act as sensor-actuators that convert pH signals into human-readable outputs...

In recent times, haptic technology has advanced to the point where it can be used to manipulate tactile perception. Although haptics research is very popular in academia, the relevant technologies have not yet been implemented to devices that are commonly used, except for small electronic devices. In this chapter, we propose a basic haptic device c...

"Dividual Plays Experimental Lab" is an extract from the dance piece "Dividual Plays". Dividual Plays was produced as the first research outcome of "Reactor for Awareness in Motion [RAM]", a research project we have been involved since 2010 (http://ram.ycam.jp/en/). Dividual Plays Experimental Lab consists of essential elements of Dividual Plays, v...

We propose DrawForming that is able to mold objects quickly and repeatedly by combining a vacuum forming method with a dynamic transformable surface. This fabrication tool can remake objects of various uneven surfaces repeatedly and quickly, using a mold that changes its form dynamically using motors. Moreover, for directly designing forms, we prop...

Modern technology development has made the border between life and matter more ambiguous. Studies that find creature-like behavior from inorganic materials are carried out in the field of art and entertainment. On the other hand, it is an important issue to manipulate objects without implanting any actuators directly inside. In this research, we ai...

This paper presents a pen-grip-shaped device that assists in sketching using multi-directional traction forces. By using an asymmetric acceleration of the vibration actuator that drive in a linear direction, the system can create a virtual traction force with the proper direction. We augment users' drawing skills with the device that arranged 4 vib...

Down the ages, people have been utilizing various stationeries to draw precise figures by own hands. On the other hand, as technology developed, CAD software has enabled us to draw such figures easily on the display. In this paper, we present a compass-based drawing interface, "COMP*PASS", which integrates advantages of digital control to manual wo...

In face-to-face communication, humans convey nonverbal information to supplement verbal language. Eye gaze in particular is a critical element. While a variety of studies on communication support focusing on eye gaze have been performed in the past, most of these studies have aimed to support communications between people in remote locations. In co...

People shed tears when they become emotional watching movies or reading novels. In this research, we propose a sensor system for illuminating and recording teardrops and describe its applications pertaining to entertainment content such as movies and novels. A tape sensor is attached below the eyes, which is controlled by a microcontroller and a PC...

The project aims to pioneer a new field of information media technology for providing intuitive understanding and promoting face-to-face communication in everyday living environments and public spaces. Moreover, the project will explore some methodologies for producing emergent effects such as spurring intellectual curiosity and creative drive. Cur...

This paper presents dePENd, a novel interactive system that assists in sketching using regular pens and paper. Our system utilizes the ferromagnetic feature of the metal tip of a regular ballpoint pen. The computer controlling the X and Y positions of the magnet under the surface of the table provides entirely new drawing experiences. By controllin...

To construct information environment that augments the real world, there is an important theme that is realization of embedding information into a certain area and receiving it naturally. To develop these systems, it is necessary to announce the existence of additional information and intuitive connection of real world and them. Approaches that use...

Touching and felling physical objects has been an important method of understanding and communicating with others. Although most of the existing haptic devices are limited to the hand, arms are used in a daily basis to interact with other people and animals by linking, hugging or being grabbed. In attempt to realize interactions with a virtual char...

Nowadays, with the widespread use of digital cameras and smart phones, a large number of pictures are taken in our daily lives. Moreover, many of the pictures are processed and shared via various applications such as Instagram (http://instagram.com/) and FxCamera (http://fxc.am). Sharing these pictures on social networks makes it easy for the users...

We present an approach to support basic and complex cutting processes through an interactive fabrication experience [Willis et al. 2011]. Our system, enchanted scissors, is a digitally controlled pair of scissors (Figure 1). It restricts areas that can be cut while requiring the user's exertion of force and decision to execute each cut. Therefore,...

Most people will have experienced squishing clay and making it flat. The action of changing the shapes of real objects induces pleasant feelings or excitement. In this research, we propose a system, named Petanko Roller, which enables users to experience the sensation of rolling out any object in the real world with a rolling pin virtually. This sy...

Embroidery is a creative manual activity practiced by many people for a living. Such a craft demands skill and knowledge, and as it is sometimes complicated and delicate, it can be difficult for beginners to learn. We propose a system, named the Needle User Interface, which enables sewers to record and share their needlework, and receive feedback....

We can find various aesthetic elements in a series of actions of fog and smoke: appearing, expanding, floating and disappearing. This time, we focus on fog as a material, which forms a pixel, and propose a novel volumetric display system named "living floccus". As shown in Figure 1, this display system can show dot images with fog rings generated b...

Researches using unique materials to move or deform objects are now popular. There are generally two approaches to accomplish this achievement. By implanting actuators, such as bio-metals, directly into the object is a common solution. In this way, actuators can disturb the materials behaviors or characteristics and ruin some performances. On the o...

"TECHTILE" is a fundamental concept by combining "TECHnology" with "tacTILE" perception/expression. Our aim is to disseminate the haptic technologies as the third media in the field of art, design, and education and extends the conventional "multi-media" which consists of visual information and auditory information.

From childhood, we often play with clay to learn and enjoy formative design. In clay crafting, we believe that color arrangement on the clay is one of the important elements as well as forming shapes. However, since the colors of normal clay are static and it is not easy to change them in contrast to its flexible form. Toward a resolution of this i...

There has been many haptic devices proposed so far, but most of them are still in emerging stage. To attract the interest of potential users of haptics such as designers, educators, and students, it is necessary to provide easy-to-make and easy-to-use haptic device. We then developed an introductory haptic device named "TECHTILE toolkit". Current p...

In our daily lives, we often feel depressed on rainy days. In this research, we aim to relieve these kinds of unpleasant feelings by providing a novel entertainment system using raindrops. More concretely, we propose an interactive display named "rainterior" that can illuminate collisions of raindrops on a water surface by using a projector-camera...

This paper presents a novel musical performance system named onNote that directly utilizes printed music scores as a musical instrument. This system can make users believe that sound is indeed embedded on the music notes in the scores. The users can play music simply by placing, moving and touching the scores under a desk lamp equipped with a camer...

In the field of Spatial Augmented Reality, how to intuitively manipulate the projected image becomes an important issue. If we could use flexible physical objects as an interface and measure the deformation as well as the location and connection of the physical object, we could offer more intuitive operation through tangible interaction. As related...

When using direct-touch displays, the users' fingers sometimes occlude the content. To avoid this problem, previous studies have proposed using the back side of a device [Hiraoka et. al., 2003] [Wigdor et al., 2007]. These approaches were shown to be useful for inputting from the backside of a device, for tasks such as selecting targets. Although t...

In contrast to light-emitting displays like plasma display panels (PDPs) and liquid crystal displays (LCDs), color-forming displays like "E-Ink" which displays information by reflecting surrounding light are being actively researched as a technology that is easy on the eye and can even be applied in bright places such as outdoors in sunlight. Apply...

Intuitive music playing using various digital musical instruments with specific tangible interfaces has become one of the ways to enjoy the music experience [Jorda et al. 2007]. When we start studying music, we need to learn how to read musical scores to understand the different instrumental parts and also understand the melody, rhythm, fingering a...

Mainly in the field of Augmented Reality (AR), various systems that can overlap virtual information onto physical space in the real world have been developed. In such systems, wearing special equipment might obstruct users' natural interaction and communication. Contrarily, Spatial Augmented Reality, which project additional information directly on...

In contrast to light-emitting displays like plasma display panels (PDPs) and liquid crystal displays (LCDs), color-forming displays like "E-Ink" which displays information by reflecting surrounding light are being actively researched as a technology that is easy on the eye and can even be applied in bright places such as outdoors in sunlight. Apply...

SolaColor is a scheme for creating a place (namely, a floor space) whose color is varied in response to sunlight. The aim of this work is to create sustainable spatial rendition by utilizing sunlight. A feature of this spatial-rendition scheme is rendering places by color--rather than contrast---of lighting. By means of SolaColor, areas in sunlight...

The goal of this project is to augment the visitor's museum experience using digital technologies. For this purpose, the authors have been investigating and developing several systems which can be classified into two categories: (a) mixed reality displays and (b) experience support systems. As for (a), this paper illustrates three systems to superi...

When we use a tabletop display, we need a display system that can show shared and personalized information to each user around it. For this purpose, we think view dependent displays, which can show different images according to the viewing directions, are suitable. So far, we have developed some types of view-dependent tabletop displays. However, t...

To experience hanahanahana, the participant applies perfume to a leaf-shaped piece of paper and holds or shakes it in front of the wall. A flower image then appears in each bud-like device. The degree of transparency of the flower changes gradually according to the strength of the floating scent, while color and shape also vary according to the sor...