{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,13]],"date-time":"2026-04-13T18:32:22Z","timestamp":1776105142903,"version":"3.50.1"},"reference-count":48,"publisher":"Association for Computing Machinery (ACM)","issue":"3","license":[{"start":{"date-parts":[[2014,6,1]],"date-time":"2014-06-01T00:00:00Z","timestamp":1401580800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["ACM Trans. Comput.-Hum. Interact."],"published-print":{"date-parts":[[2014,6]]},"abstract":"<jats:p>We present an approach to combining digital fabrication and craft, demonstrating a hybrid interaction paradigm where human and machine work in synergy. The FreeD is a hand-held digital milling device, monitored by a computer while preserving the makers freedom to manipulate the work in many creative ways. Relying on a pre-designed 3D model, the computer gets into action only when the milling bit risks the objects integrity, preventing damage by slowing down the spindle speed, while the rest of the time it allows complete gestural freedom. We present the technology and explore several interaction methodologies for carving. In addition, we present a user study that reveals how synergetic cooperation between human and machine preserves the expressiveness of manual practice. This quality of the hybrid territory evolves into design personalization. We conclude on the creative potential of open-ended procedures within this hybrid interactive territory of manual smart tools and devices.<\/jats:p>","DOI":"10.1145\/2617570","type":"journal-article","created":{"date-parts":[[2014,7,1]],"date-time":"2014-07-01T14:23:02Z","timestamp":1404224582000},"page":"1-29","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":59,"title":["The Hybrid Artisans"],"prefix":"10.1145","volume":"21","author":[{"given":"Amit","family":"Zoran","sequence":"first","affiliation":[{"name":"Media Lab Massachusetts Institute of Technology (MIT), MA USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Roy","family":"Shilkrot","sequence":"additional","affiliation":[{"name":"Media Lab Massachusetts Institute of Technology (MIT)"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Suranga","family":"Nanyakkara","sequence":"additional","affiliation":[{"name":"Singapore University of Technology and Design (SUTD), Singapore"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Joseph","family":"Paradiso","sequence":"additional","affiliation":[{"name":"Media Lab Massachusetts Institute of Technology (MIT), MA USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"320","published-online":{"date-parts":[[2014,6,30]]},"reference":[{"key":"e_1_2_1_1_1","unstructured":"S. Agarwal and K. Mierle. 2012. Ceres solver: Tutorial & reference. http:\/\/code.google.com\/p\/ceres-solver. (2012). http:\/\/code.google.com\/p\/ceres-solver.  S. Agarwal and K. Mierle. 2012. Ceres solver: Tutorial & reference. http:\/\/code.google.com\/p\/ceres-solver. (2012). http:\/\/code.google.com\/p\/ceres-solver."},{"key":"e_1_2_1_2_1","doi-asserted-by":"publisher","DOI":"10.1145\/2380296.2380306"},{"key":"e_1_2_1_3_1","doi-asserted-by":"publisher","DOI":"10.1145\/1622176.1622189"},{"key":"e_1_2_1_4_1","doi-asserted-by":"publisher","DOI":"10.1145\/1276377.1276467"},{"key":"e_1_2_1_5_1","doi-asserted-by":"publisher","DOI":"10.1145\/2461912.2461964"},{"key":"e_1_2_1_6_1","volume-title":"Shaevitz","author":"Berman Gordon J.","year":"2013","unstructured":"Gordon J. Berman , Daniel M. Choi , William Bialek , and Joshua W . Shaevitz . 2013 . Mapping the structure of drosophilid behavior. Available at http:\/\/arxiv-web3.library.cornell.edu\/abs\/1310.4249. Gordon J. Berman, Daniel M. Choi, William Bialek, and Joshua W. Shaevitz. 2013. Mapping the structure of drosophilid behavior. Available at http:\/\/arxiv-web3.library.cornell.edu\/abs\/1310.4249."},{"key":"e_1_2_1_7_1","volume-title":"Medical Image Computing and Computer-Assisted Intervention (MICCAI\u201904)","author":"Brisson Gabriel","unstructured":"Gabriel Brisson , Takeo Kanade , Anthony DiGioia , and Branislav Jaramaz . 2004. Precision freehand sculpting of bone . In Medical Image Computing and Computer-Assisted Intervention (MICCAI\u201904) . Springer , 105--112. Gabriel Brisson, Takeo Kanade, Anthony DiGioia, and Branislav Jaramaz. 2004. Precision freehand sculpting of bone. In Medical Image Computing and Computer-Assisted Intervention (MICCAI\u201904). Springer, 105--112."},{"key":"e_1_2_1_8_1","doi-asserted-by":"publisher","DOI":"10.1145\/2342896.2342911"},{"key":"e_1_2_1_9_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2003.817071"},{"key":"e_1_2_1_10_1","doi-asserted-by":"publisher","DOI":"10.1145\/174462.156635"},{"key":"e_1_2_1_11_1","unstructured":"Harold Edgerton. 2010. Harlod \u201cDoc\u201d Edgerton. Available at http:\/\/edgerton-digital-collections.org.  Harold Edgerton. 2010. Harlod \u201cDoc\u201d Edgerton. Available at http:\/\/edgerton-digital-collections.org."},{"key":"e_1_2_1_12_1","doi-asserted-by":"publisher","DOI":"10.1145\/1166253.1166290"},{"key":"e_1_2_1_13_1","doi-asserted-by":"publisher","DOI":"10.1145\/1866218.1866230"},{"key":"e_1_2_1_14_1","volume-title":"Fab: The Coming Revolution on Your Desktop--From Personal Computers to Personal Fabrication","author":"Gershenfeld Neil","year":"2008","unstructured":"Neil Gershenfeld . 2008 . Fab: The Coming Revolution on Your Desktop--From Personal Computers to Personal Fabrication . Basic Books . Neil Gershenfeld. 2008. Fab: The Coming Revolution on Your Desktop--From Personal Computers to Personal Fabrication. Basic Books."},{"key":"e_1_2_1_15_1","doi-asserted-by":"publisher","DOI":"10.1145\/1866029.1866033"},{"key":"e_1_2_1_16_1","doi-asserted-by":"publisher","DOI":"10.1145\/1656274.1656278"},{"key":"e_1_2_1_17_1","volume-title":"Rakita","author":"Hurt Teresa D.","year":"2001","unstructured":"Teresa D. Hurt and Gordon F. M . Rakita . 2001 . Style and Function: Conceptual Issues in Evolutionary Archaeology. Greenwood Publishing Group . Teresa D. Hurt and Gordon F. M. Rakita. 2001. Style and Function: Conceptual Issues in Evolutionary Archaeology. Greenwood Publishing Group."},{"key":"e_1_2_1_18_1","doi-asserted-by":"publisher","DOI":"10.1145\/2212776.2212390"},{"key":"e_1_2_1_19_1","first-page":"5","article-title":"The little black bag","volume":"45","author":"Kornbluth Cyril","year":"1950","unstructured":"Cyril Kornbluth . 1950 . The little black bag . Analog Science Fiction and Fact 45 , 5 (July 1950), 132--161. Cyril Kornbluth. 1950. The little black bag. Analog Science Fiction and Fact 45, 5 (July 1950), 132--161.","journal-title":"Analog Science Fiction and Fact"},{"key":"e_1_2_1_20_1","doi-asserted-by":"publisher","DOI":"10.1109\/TVCG.2012.160"},{"key":"e_1_2_1_21_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICSENS.2011.6126902"},{"key":"e_1_2_1_22_1","unstructured":"J. H. Lee. 2012. Haptic Intelligentsia. Available at http:\/\/studio-homunculus.com.  J. H. Lee. 2012. Haptic Intelligentsia. Available at http:\/\/studio-homunculus.com."},{"key":"e_1_2_1_23_1","volume-title":"Proceedings of the 27th Annual International Conference of the Engineering in Medicine and Biology Society (IEEE-EMBS\u201905)","author":"Lee Seon-Woo","year":"2006","unstructured":"Seon-Woo Lee , Kenji Mase , and Kiyoshi Kogure . 2006 . Detection of spatio-temporal gait parameters by using wearable motion sensors . In Proceedings of the 27th Annual International Conference of the Engineering in Medicine and Biology Society (IEEE-EMBS\u201905) . 6836--6839. Seon-Woo Lee, Kenji Mase, and Kiyoshi Kogure. 2006. Detection of spatio-temporal gait parameters by using wearable motion sensors. In Proceedings of the 27th Annual International Conference of the Engineering in Medicine and Biology Society (IEEE-EMBS\u201905). 6836--6839."},{"key":"e_1_2_1_24_1","volume-title":"Abstracting Craft: the Practiced Digital","author":"McCullough Malcolm","unstructured":"Malcolm McCullough . 1998. Abstracting Craft: the Practiced Digital . MIT Press . Malcolm McCullough. 1998. Abstracting Craft: the Practiced Digital. MIT Press."},{"key":"e_1_2_1_25_1","volume-title":"Storylines: Craftartists","author":"Mishler Elliot G.","year":"1999","unstructured":"Elliot G. Mishler . 1999 . Storylines: Craftartists \u2019 Narratives of Identity. Harvard University Press . Elliot G. Mishler. 1999. Storylines: Craftartists\u2019 Narratives of Identity. Harvard University Press."},{"key":"e_1_2_1_26_1","doi-asserted-by":"publisher","DOI":"10.1145\/2380116.2380191"},{"key":"e_1_2_1_27_1","volume-title":"Proceedings of SPIE","volume":"6804","author":"Olwal Alex","year":"2008","unstructured":"Alex Olwal , Jonny Gustafsson , and Christoffer Lindfors . 2008 . Spatial augmented reality on industrial CNC-machines . In Proceedings of SPIE , Vol. 6804 . 680409. Alex Olwal, Jonny Gustafsson, and Christoffer Lindfors. 2008. Spatial augmented reality on industrial CNC-machines. In Proceedings of SPIE, Vol. 6804. 680409."},{"key":"e_1_2_1_28_1","unstructured":"OpenNI. 2012. OpenNI user guide. Available at http:\/\/www.openni.org\/documentation.  OpenNI. 2012. OpenNI user guide. Available at http:\/\/www.openni.org\/documentation."},{"key":"e_1_2_1_29_1","unstructured":"N. Patel. 2011. Printing: Jumping the Shark on Kinect Hacks. Available at http:\/\/bit.ly\/dLiheh.  N. Patel. 2011. Printing: Jumping the Shark on Kinect Hacks. Available at http:\/\/bit.ly\/dLiheh."},{"key":"e_1_2_1_30_1","doi-asserted-by":"publisher","DOI":"10.1145\/2366145.2366176"},{"key":"e_1_2_1_31_1","doi-asserted-by":"publisher","DOI":"10.1145\/2185520.2185584"},{"key":"e_1_2_1_32_1","volume-title":"Hannah Louise Shearer, and Kim Manners","author":"Roddenberry Gene","year":"1988","unstructured":"Gene Roddenberry , Hannah Louise Shearer, and Kim Manners . 1988 . When the Bough Breaks. (Feb. 1988). Star Trek: the Next Generation. Season 1, Episode 16. Gene Roddenberry, Hannah Louise Shearer, and Kim Manners. 1988. When the Bough Breaks. (Feb. 1988). Star Trek: the Next Generation. Season 1, Episode 16."},{"key":"e_1_2_1_33_1","doi-asserted-by":"publisher","DOI":"10.1145\/1978942.1979332"},{"key":"e_1_2_1_34_1","unstructured":"T. Sargeant. 2012. Carve. Available at http:\/\/code.google.com\/p\/carve\/.  T. Sargeant. 2012. Carve. Available at http:\/\/code.google.com\/p\/carve\/."},{"key":"e_1_2_1_35_1","volume-title":"Rehg","author":"Skeels Christopher","year":"2007","unstructured":"Christopher Skeels and James M . Rehg . 2007 . ShapeShift: A projector-guided sculpture system. UIST\u201907, October 7--10, 2007, Newport, Rhode Island , ACM 1-58113-962-4\/04\/0010. Christopher Skeels and James M. Rehg. 2007. ShapeShift: A projector-guided sculpture system. UIST\u201907, October 7--10, 2007, Newport, Rhode Island, ACM 1-58113-962-4\/04\/0010."},{"key":"e_1_2_1_36_1","doi-asserted-by":"publisher","DOI":"10.1145\/1166253.1166258"},{"key":"e_1_2_1_37_1","doi-asserted-by":"publisher","DOI":"10.1145\/1057432.1057456"},{"key":"e_1_2_1_38_1","volume-title":"Information Processing in Computer-Assisted Interventions","author":"Stetten George","unstructured":"George Stetten , Bing Wu , Roberta Klatzky , John Galeotti , Mel Siegel , Randy Lee , Francis Mah , Andrew Eller , Joel Schuman , and Ralph Hollis . 2011. Hand-held force magnifier for surgical instruments . In Information Processing in Computer-Assisted Interventions . Springer , 90--100. George Stetten, Bing Wu, Roberta Klatzky, John Galeotti, Mel Siegel, Randy Lee, Francis Mah, Andrew Eller, Joel Schuman, and Ralph Hollis. 2011. Hand-held force magnifier for surgical instruments. In Information Processing in Computer-Assisted Interventions. Springer, 90--100."},{"key":"e_1_2_1_39_1","unstructured":"Intuitive Surgical. 2013. da Vinci Surgical System. Available at http:\/\/www.intuitivesurgical.com\/products\/davinci_surgical_system.  Intuitive Surgical. 2013. da Vinci Surgical System. Available at http:\/\/www.intuitivesurgical.com\/products\/davinci_surgical_system."},{"key":"e_1_2_1_40_1","volume-title":"Epistemological pluralism and the revaluation of the concrete. Constructionism","author":"Turkle Sherry","year":"1991","unstructured":"Sherry Turkle and Seymour Papert . 1991. Epistemological pluralism and the revaluation of the concrete. Constructionism ( 1991 ), 161--192. Sherry Turkle and Seymour Papert. 1991. Epistemological pluralism and the revaluation of the concrete. Constructionism (1991), 161--192."},{"key":"e_1_2_1_41_1","volume-title":"Style and social information in Kalahari san projectile points. American Antiquity","author":"Wiessner Polly","year":"1983","unstructured":"Polly Wiessner . 1983. Style and social information in Kalahari san projectile points. American Antiquity ( 1983 ), 253--276. Polly Wiessner. 1983. Style and social information in Kalahari san projectile points. American Antiquity (1983), 253--276."},{"key":"e_1_2_1_42_1","doi-asserted-by":"publisher","DOI":"10.1145\/1709886.1709890"},{"key":"e_1_2_1_43_1","doi-asserted-by":"publisher","DOI":"10.1145\/1935701.1935716"},{"key":"e_1_2_1_44_1","volume-title":"Jamie Kyujin Paik, and Guillaume Morel","author":"Zahraee Ali Hassan","year":"2010","unstructured":"Ali Hassan Zahraee , J\u00e9rome Szewczyk , Jamie Kyujin Paik, and Guillaume Morel . 2010 . Robotic hand-held surgical device: Evaluation of end-effector\u2019s kinematics and development of proof-of-concept prototypes. In Medical Image Computing and Computer-Assisted Intervention (MICCAI\u201910). Springer , 432--439. Ali Hassan Zahraee, J\u00e9rome Szewczyk, Jamie Kyujin Paik, and Guillaume Morel. 2010. Robotic hand-held surgical device: Evaluation of end-effector\u2019s kinematics and development of proof-of-concept prototypes. In Medical Image Computing and Computer-Assisted Intervention (MICCAI\u201910). Springer, 432--439."},{"key":"e_1_2_1_45_1","doi-asserted-by":"publisher","DOI":"10.1145\/2461912.2461985"},{"key":"e_1_2_1_46_1","doi-asserted-by":"publisher","DOI":"10.1145\/2380296.2380299"},{"key":"e_1_2_1_47_1","doi-asserted-by":"publisher","DOI":"10.1145\/2470654.2481361"},{"key":"e_1_2_1_48_1","doi-asserted-by":"publisher","DOI":"10.1145\/2501988.2502023"}],"container-title":["ACM Transactions on Computer-Human Interaction"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/2617570","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/2617570","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,18]],"date-time":"2025-06-18T06:56:00Z","timestamp":1750229760000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/2617570"}},"subtitle":["A Case Study in Smart Tools"],"short-title":[],"issued":{"date-parts":[[2014,6]]},"references-count":48,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2014,6]]}},"alternative-id":["10.1145\/2617570"],"URL":"https:\/\/doi.org\/10.1145\/2617570","relation":{},"ISSN":["1073-0516","1557-7325"],"issn-type":[{"value":"1073-0516","type":"print"},{"value":"1557-7325","type":"electronic"}],"subject":[],"published":{"date-parts":[[2014,6]]},"assertion":[{"value":"2013-08-01","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2014-02-01","order":1,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2014-06-30","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}