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Figure 1. ShapeBots exemplifies a new type of shape-changing interface that consists of a swarm of self-transformable robots. A) Two ShapeBot elements. B) A miniature reel-based linear actuator for self-transformation. By leveraging individual and collective transformation, ShapeBots can provide C) interactive physical display (e.g., rendering a rectangle), D) object actuation (e.g., cleaning up a desk), E) distributed shape display (e.g., rendering a dynamic surface), and F) embedded data physicalization (e.g., showing populations of states on a US map). ABSTRACTWe introduce shape-changing swarm robots. A swarm of selftransformable 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 change its shape by leveraging small linear actuators that are thin (2.5 cm) and highly extendable (up to 20cm) in both horizontal and vertical directions. The modular design of each actuator enables various shapes and geometries of self-transformation. We illustrate potential application scenarios and discuss how this type of interface opens up possibilities for the future of ubiquitous and distributed shape-changing interfaces.interfaces [5,38]-will follow the same path as technology advances. Although current interfaces are often large, heavy, and immobile, these interfaces will surely be replaced with hundreds of distributed interfaces, in the same way that desktop computers were replaced by hundreds of distributed mobile computers. If shape-changing interfaces will become truly ubiquitous, how can these interfaces be distributed and embedded into our everyday environment? This paper introduces shape-changing swarm robots for distributed shape-changing interfaces. Shape-changing swarm robots can both collectively and individually change their shape, so that they can collectively present information, act as controllers, actuate objects, represent data, and provide dynamic physical affordances.

Figure 1. RoomShift is composed of a swarm of shape-changing robots for haptic feedback in VR. RoomShift robots move beneath a piece of furniture to lift, move and place it. Multiple robots move furniture to construct a physical haptic environment collectively. The corresponding virtual scene is shown, with a human silhouette added for a reference.

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The "wearability" of wearable technology addresses the factors that affect the degree of comfort the wearer experiences while wearing a device, including physical, psychological, and social aspects. While the physical and psychological aspects of wearing technology have been investigated since early in the development of the field of wearable computing, the social aspects of wearability have been less fully-explored. As wearable technology becomes increasingly common on the commercial market, social wearability is becoming an ever-more-important variable contributing to the success or failure of new products. Here we present an analysis of social aspects of wearability within the context of the greater understanding of wearability in wearable technology, and focus on selected theoretical frameworks for understanding how wearable products are perceived and evaluated in a social context. Qualitative results from a study of social acceptability of on-body interactions are presented as a case study of social wearability.

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