Robotecture: A Modular Shape-changing Interface Using Actuated Support Beams

Shape-changing User Interfaces (SCUIs) can dynamically adjust their shape or layout in response to user interactions or environments. It is challenging to design expandable, affordable, and effective SCUIs with optimal space utilization for novel interactions. To tackle this challenge we introduce Robotecture, a cost-efficient and expandable shape-changing system which utilizes a self-lifting structure composed of modular robotics that actuate support beams. Robotecture generates dynamic surface displays and enclosures by modulating a grid of robotic units with linear movements, each with two actuators and four beams connecting to adjacent units. The modular design allows the structure to scale to different grid sizes and to be arranged in flexible layouts. The self-lifting nature of Robotecture makes it possible to utilize the space on both sides of the surface. The design of a sparse grid structure makes the system more efficient in simulating large-scale structures such as smart architecture, and the spaces between the beams enable objects to pass through the actuated surface for novel interactions. In this paper, we demonstrate a few prototypes with different layouts and validate the proof of concept. Additionally, we showcase various scenarios where Robotecture can enhance tangible interactions and interactive experiences for versatile and eco-friendly applications across different scales, such as tabletop tangible displays, room-scale furniture simulation, smart architecture, etc.