Coded skeleton

Abstract

Soft and organic interfaces have been studied for soft robotics as alternatives for hard bodies toward real-world oriented interaction. These interfaces are generally called programmable matter - controlling objects in the real world - and they are now a popular topic in computer graphics, display, and human-computer interaction communities. Various ideas and visions to organize and realize this concept have been proposed; - for example, programmable matter [Goldstein et al. 2005], radical atoms [Ishii et al. 2012], actuation interfaces [Poupyrev et al. 2007], and computational potential field [Ochiai et al. 2014]. These concepts focus on controlling real objects through a computer and generating physically programmable materials. These concepts will play very important roles in future interactive environments because they expand the range of computer applications from "painted bits" to the real world [Ishii et al. 1997].