{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,13]],"date-time":"2026-04-13T19:23:36Z","timestamp":1776108216926,"version":"3.50.1"},"publisher-location":"New York, NY, USA","reference-count":74,"publisher":"ACM","license":[{"start":{"date-parts":[[2023,4,19]],"date-time":"2023-04-19T00:00:00Z","timestamp":1681862400000},"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":[],"published-print":{"date-parts":[[2023,4,19]]},"DOI":"10.1145\/3544548.3581437","type":"proceedings-article","created":{"date-parts":[[2023,4,20]],"date-time":"2023-04-20T04:28:44Z","timestamp":1681964924000},"page":"1-18","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":23,"title":["AeroRigUI: Actuated TUIs for Spatial Interaction using Rigging Swarm Robots on Ceilings in Everyday Space"],"prefix":"10.1145","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-3803-3129","authenticated-orcid":false,"given":"Lilith","family":"Yu","sequence":"first","affiliation":[{"name":"University of Chicago, United States"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0601-2921","authenticated-orcid":false,"given":"Chenfeng","family":"Gao","sequence":"additional","affiliation":[{"name":"University of Chicago, United States"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9571-2622","authenticated-orcid":false,"given":"David","family":"Wu","sequence":"additional","affiliation":[{"name":"University of Chicago, United States"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1351-6976","authenticated-orcid":false,"given":"Ken","family":"Nakagaki","sequence":"additional","affiliation":[{"name":"University of Chicago, United States"}]}],"member":"320","published-online":{"date-parts":[[2023,4,19]]},"reference":[{"key":"e_1_3_3_3_1_1","doi-asserted-by":"publisher","DOI":"10.1145\/2750858.2805850"},{"key":"e_1_3_3_3_2_1","doi-asserted-by":"publisher","DOI":"10.1145\/3173574.3173873"},{"key":"e_1_3_3_3_3_1","doi-asserted-by":"publisher","DOI":"10.1145\/2399016.2399095"},{"key":"e_1_3_3_3_4_1","volume-title":"Retrieved","author":"COM.","year":"2008","unstructured":"ART+COM. 2008. Kinetic Sculpture - the Shape of Things to Come. Retrieved September 15, 2022 from https:\/\/artcom.de\/en\/?project=kinetic-sculpture"},{"key":"e_1_3_3_3_5_1","doi-asserted-by":"crossref","unstructured":"Elodie Bouzbib Gilles Bailly Sinan Haliyo and Pascal Frey. 2020. CoVR: A large-scale force-feedback robotic interface for non-deterministic scenarios in vr. arXiv preprint arXiv:2009.07149(2020).","DOI":"10.1145\/3379337.3415891"},{"key":"e_1_3_3_3_6_1","doi-asserted-by":"crossref","unstructured":"Sean Braley Calvin Rubens Timothy Merritt and Roel Vertegaal. 2018. GridDrones: A Self-Levitating Physical Voxel Lattice for Interactive 3D Surface Deformations.. In UIST Vol.\u00a018. D200.","DOI":"10.1145\/3242587.3242658"},{"key":"e_1_3_3_3_7_1","volume-title":"International Workshop on Haptic Human-Computer Interaction. Springer, 182\u2013193","author":"Buoguila Laroussi","year":"2000","unstructured":"Laroussi Buoguila, Masahiro Ishii, and Makoto Sato. 2000. Scaleable spidar: A haptic interface for human-scale virtual environments. In International Workshop on Haptic Human-Computer Interaction. Springer, 182\u2013193."},{"key":"e_1_3_3_3_8_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2016.2531626"},{"key":"e_1_3_3_3_9_1","doi-asserted-by":"publisher","DOI":"10.1145\/2501988.2502018"},{"key":"e_1_3_3_3_10_1","volume-title":"Retrieved","year":"2017","unstructured":"CircusArts. 2017. Sailor Circus Duo Trapeze Performance at 2017 Smithsonian Folklife Festival. Retrieved September 15, 2022 from https:\/\/www.youtube.com\/watch?v=XgWRj4LB6nM&ab_channel=CircusArts"},{"key":"e_1_3_3_3_11_1","doi-asserted-by":"publisher","DOI":"10.1007\/s00779-010-0311-y"},{"key":"e_1_3_3_3_12_1","doi-asserted-by":"publisher","DOI":"10.1145\/3491102.3517462"},{"key":"e_1_3_3_3_13_1","volume-title":"Retrieved","author":"Entertainment Sony\u00a0Interactive","year":"2020","unstructured":"Sony\u00a0Interactive Entertainment. 2020. toio Mat for Developers. Retrieved May 16, 2022 from https:\/\/toio.io\/news\/2020\/20200423-1.html"},{"key":"e_1_3_3_3_14_1","doi-asserted-by":"publisher","DOI":"10.1145\/3313831.3376470"},{"key":"e_1_3_3_3_15_1","doi-asserted-by":"crossref","unstructured":"Sean Follmer Daniel Leithinger Alex Olwal Akimitsu Hogge and Hiroshi Ishii. 2013. inFORM: dynamic physical affordances and constraints through shape and object actuation.. In Uist Vol.\u00a013. 2501\u2013988.","DOI":"10.1145\/2501988.2502032"},{"key":"e_1_3_3_3_16_1","doi-asserted-by":"publisher","DOI":"10.1080\/01691864.2018.1447238"},{"key":"e_1_3_3_3_17_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5979851"},{"key":"e_1_3_3_3_18_1","doi-asserted-by":"publisher","DOI":"10.20965\/jrm.2014.p0040"},{"key":"e_1_3_3_3_19_1","volume-title":"Midair Balloon Interface: A Soft and Lightweight Midair Object for Proximate Interactions. In The 34th Annual ACM Symposium on User Interface Software and Technology. 783\u2013795","author":"Furumoto Takuro","year":"2021","unstructured":"Takuro Furumoto, Takumi Kasai, Masahiro Fujiwara, Yasutoshi Makino, and Hiroyuki Shinoda. 2021. Midair Balloon Interface: A Soft and Lightweight Midair Object for Proximate Interactions. In The 34th Annual ACM Symposium on User Interface Software and Technology. 783\u2013795."},{"key":"e_1_3_3_3_20_1","volume-title":"A volumetric display for visual, tactile and audio presentation using acoustic trapping. Nature 575, 7782","author":"Hirayama Ryuji","year":"2019","unstructured":"Ryuji Hirayama, Diego Martinez\u00a0Plasencia, Nobuyuki Masuda, and Sriram Subramanian. 2019. A volumetric display for visual, tactile and audio presentation using acoustic trapping. Nature 575, 7782 (2019), 320\u2013323."},{"key":"e_1_3_3_3_21_1","first-page":"75","article-title":"A Novel Optimal Trajectory Planning for Overhead Traveling Crane","volume":"2","author":"Hong Chaofei","year":"2013","unstructured":"Chaofei Hong, Gening Xu, and Yuanfang Tao. 2013. A Novel Optimal Trajectory Planning for Overhead Traveling Crane. Researches and Applications in Mechanical Engineering 2, 4(2013), 75\u201380.","journal-title":"Researches and Applications in Mechanical Engineering"},{"key":"e_1_3_3_3_22_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2021.103907"},{"key":"e_1_3_3_3_23_1","unstructured":"Anusha Jayasiri Katsuhito Akahane and Makoto Sato. 2012. Haptic rendering of dynamic image sequence using string based haptic device SPIDAR. (2012)."},{"key":"e_1_3_3_3_24_1","doi-asserted-by":"publisher","DOI":"10.1145\/3411764.3445454"},{"key":"e_1_3_3_3_25_1","doi-asserted-by":"publisher","DOI":"10.1007\/s10606-018-9325-1"},{"key":"e_1_3_3_3_26_1","volume-title":"Controls and Art","author":"Jochum Elizabeth","unstructured":"Elizabeth Jochum, Jarvis Schultz, Elliot Johnson, and Todd\u00a0D Murphey. 2014. Robotic puppets and the engineering of autonomous theater. In Controls and Art. Springer, 107\u2013128."},{"key":"e_1_3_3_3_27_1","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2007.363808"},{"key":"e_1_3_3_3_28_1","doi-asserted-by":"publisher","DOI":"10.1145\/3472749.3474802"},{"key":"e_1_3_3_3_29_1","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1145\/3130931","article-title":"Ubiswarm: Ubiquitous robotic interfaces and investigation of abstract motion as a display","volume":"1","author":"Kim H","year":"2017","unstructured":"Lawrence\u00a0H Kim and Sean Follmer. 2017. Ubiswarm: Ubiquitous robotic interfaces and investigation of abstract motion as a display. Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies 1, 3 (2017), 1\u201320.","journal-title":"Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies"},{"key":"e_1_3_3_3_30_1","doi-asserted-by":"publisher","DOI":"10.1145\/3290605.3300918"},{"key":"e_1_3_3_3_31_1","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2007.363159"},{"key":"e_1_3_3_3_32_1","volume-title":"Retrieved","author":"Kishi Ryo","year":"2015","unstructured":"Ryo Kishi. 2015. atOms. Retrieved September 15, 2022 from http:\/\/ryokishi.org\/works\/atoms21\/atoms21.html"},{"key":"e_1_3_3_3_33_1","volume-title":"Retrieved","author":"Kristin\u00a0Chenoweth Idina\u00a0Menzel","year":"2004","unstructured":"Idina\u00a0Menzel Kristin\u00a0Chenoweth. 2004. Idina & Kristin - Tony\u2019s 2004 - Defying Gravity. Retrieved May 26, 2022 from https:\/\/www.youtube.com\/watch?v=O5V9KwppMfs&ab_channel=AGillingham"},{"key":"e_1_3_3_3_34_1","volume-title":"Retrieved","author":"LaValle Steven","year":"2006","unstructured":"Steven LaValle. 2006. Yaw, pitch, and roll rotations. Retrieved September 15, 2022 from http:\/\/planning.cs.uiuc.edu\/node102.html"},{"key":"e_1_3_3_3_35_1","doi-asserted-by":"publisher","DOI":"10.1145\/2984511.2984547"},{"key":"e_1_3_3_3_36_1","unstructured":"Ho-Hoon Lee. 1998. Modeling and control of a three-dimensional overhead crane. (1998)."},{"key":"e_1_3_3_3_37_1","doi-asserted-by":"publisher","DOI":"10.1145\/2047196.2047239"},{"key":"e_1_3_3_3_38_1","volume-title":"ShadowAstro: Levitating Constellation Silhouette for Spatial Exploration and Learning. In The Adjunct Publication of the 35th Annual ACM Symposium on User Interface Software and Technology. 1\u20133.","author":"Li Jiatong","year":"2022","unstructured":"Jiatong Li, Chenfeng Gao, and Ken Nakagaki. 2022. ShadowAstro: Levitating Constellation Silhouette for Spatial Exploration and Learning. In The Adjunct Publication of the 35th Annual ACM Symposium on User Interface Software and Technology. 1\u20133."},{"key":"e_1_3_3_3_39_1","doi-asserted-by":"publisher","unstructured":"Y Miao F Xu Y Hu J An and M Zhang. 2019. Anti-swing control of the overhead crane system based on the harmony search radial basis function neural network algorithm. (2019). https:\/\/doi.org\/10.1177\/1687814019834458","DOI":"10.1177\/1687814019834458"},{"key":"e_1_3_3_3_40_1","doi-asserted-by":"publisher","DOI":"10.1145\/3379337.3415831"},{"key":"e_1_3_3_3_41_1","doi-asserted-by":"publisher","DOI":"10.1145\/3491102.3501906"},{"key":"e_1_3_3_3_42_1","doi-asserted-by":"publisher","DOI":"10.1145\/3064663.3064670"},{"key":"e_1_3_3_3_43_1","doi-asserted-by":"publisher","DOI":"10.1145\/2601097.2601118"},{"key":"e_1_3_3_3_44_1","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pone.0097590"},{"key":"e_1_3_3_3_45_1","doi-asserted-by":"publisher","DOI":"10.1006\/jsvi.2000.3375"},{"key":"e_1_3_3_3_46_1","doi-asserted-by":"publisher","DOI":"10.1109\/NUiConE.2011.6153318"},{"key":"e_1_3_3_3_47_1","doi-asserted-by":"publisher","DOI":"10.1145\/1226969.1227012"},{"key":"e_1_3_3_3_48_1","volume-title":"Proceedings of the SIGCHI Conference on Human Factors in Computing Systems.","author":"Rasmussen MK","year":"2012","unstructured":"MK Rasmussen, EW Pedersen, MG Petersen, and K Hornb\u00e6k. 2012. Proceedings of the SIGCHI Conference on Human Factors in Computing Systems. (2012)."},{"key":"e_1_3_3_3_49_1","doi-asserted-by":"crossref","first-page":"38","DOI":"10.1049\/et:20082106","article-title":"Stages of automation-[Control theatre]","volume":"3","author":"Richards Guy","year":"2008","unstructured":"Guy Richards. 2008. Stages of automation-[Control theatre]. Engineering & Technology 3, 21 (2008), 38\u201341.","journal-title":"Engineering & Technology"},{"key":"e_1_3_3_3_50_1","first-page":"593","article-title":"Subramanian,. S. Morphees: Toward High","volume":"13","author":"Roudaut A","year":"2013","unstructured":"A Roudaut, A Karnik, and M L\u00f6chtefeld. 2013. Subramanian,. S. Morphees: Toward High\" Shape Resolution. Self-actuated Flexible Mobile Devices. In Proc. CHI 13 (2013), 593\u2013602.","journal-title":"Shape Resolution. Self-actuated Flexible Mobile Devices. In Proc. CHI"},{"key":"e_1_3_3_3_51_1","doi-asserted-by":"publisher","DOI":"10.1145\/2815585.2817810"},{"key":"e_1_3_3_3_52_1","volume-title":"8th international conference on virtual systems and multimedia. Citeseer, 1034\u20131039","author":"Sato Makoto","year":"2002","unstructured":"Makoto Sato. 2002. Development of string-based force display: SPIDAR. In 8th international conference on virtual systems and multimedia. Citeseer, 1034\u20131039."},{"key":"e_1_3_3_3_53_1","doi-asserted-by":"publisher","DOI":"10.1109\/WAC.2002.1049515"},{"key":"e_1_3_3_3_54_1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2004.1389410"},{"key":"e_1_3_3_3_55_1","doi-asserted-by":"publisher","DOI":"10.1145\/3491102.3501960"},{"key":"e_1_3_3_3_56_1","volume-title":"Retrieved","author":"Sinha Kirin","year":"2014","unstructured":"Kirin Sinha. 2014. Kinesthetic Learning: Moving Toward a New Model for Education. Retrieved September 15, 2022 from https:\/\/www.edutopia.org\/blog\/kinesthetic-learning-new-model-education-kirin-sinha"},{"key":"e_1_3_3_3_57_1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8206562"},{"key":"e_1_3_3_3_58_1","doi-asserted-by":"publisher","DOI":"10.1145\/2461912.2462007"},{"key":"e_1_3_3_3_59_1","volume-title":"Beyond gray droids: domestic robot design for the 21st century workshop at HCI, Vol.\u00a02009. 2.","author":"Stepan Gabor","unstructured":"Gabor Stepan, Andras Toth, Laszlo Kovacs, Gunnar Bolmsjo, Giorgos Nikoleris, Dragoljub Surdilovic, Andreas Conrad, Antonios Gasteratos, Nikolaos Kyriakoulis, Dimitrios Chrysostomou, 2009. ACROBOTER: a ceiling based crawling, hoisting and swinging service robot platform. In Beyond gray droids: domestic robot design for the 21st century workshop at HCI, Vol.\u00a02009. 2."},{"key":"e_1_3_3_3_60_1","doi-asserted-by":"publisher","DOI":"10.1145\/2851581.2856464"},{"key":"e_1_3_3_3_61_1","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2012.2183837"},{"key":"e_1_3_3_3_62_1","doi-asserted-by":"publisher","DOI":"10.1145\/3313831.3376523"},{"key":"e_1_3_3_3_63_1","volume-title":"Augmented Reality and Robotics: A Survey and Taxonomy for AR-enhanced Human-Robot Interaction and Robotic Interfaces. In CHI Conference on Human Factors in Computing Systems. 1\u201333","author":"Suzuki Ryo","year":"2022","unstructured":"Ryo Suzuki, Adnan Karim, Tian Xia, Hooman Hedayati, and Nicolai Marquardt. 2022. Augmented Reality and Robotics: A Survey and Taxonomy for AR-enhanced Human-Robot Interaction and Robotic Interfaces. In CHI Conference on Human Factors in Computing Systems. 1\u201333."},{"key":"e_1_3_3_3_64_1","doi-asserted-by":"publisher","DOI":"10.1145\/3374920.3374941"},{"key":"e_1_3_3_3_65_1","volume-title":"HapticBots: Distributed Encountered-type Haptics for VR with Multiple Shape-changing Mobile Robots. In The 34th Annual ACM Symposium on User Interface Software and Technology. 1269\u20131281","author":"Suzuki Ryo","year":"2021","unstructured":"Ryo Suzuki, Eyal Ofek, Mike Sinclair, Daniel Leithinger, and Mar Gonzalez-Franco. 2021. HapticBots: Distributed Encountered-type Haptics for VR with Multiple Shape-changing Mobile Robots. In The 34th Annual ACM Symposium on User Interface Software and Technology. 1269\u20131281."},{"key":"e_1_3_3_3_66_1","doi-asserted-by":"publisher","DOI":"10.1145\/3332165.3347958"},{"key":"e_1_3_3_3_67_1","volume-title":"Retrieved","year":"2021","unstructured":"Wikipedia. 2021. Aerial rigging. Retrieved September 15, 2022 from https:\/\/en.wikipedia.org\/wiki\/Aerial_rigging#:\u00a0:text=Aerial%20rigging%20is%20the%20process, the%20artists%20and%20the%20audience."},{"key":"e_1_3_3_3_68_1","unstructured":"WOW. 2012. BLOOM SKIN. https:\/\/www.w0w.co.jp\/en\/works\/bloomskin"},{"key":"e_1_3_3_3_69_1","unstructured":"Junichi Yamaoka. 2014. Morphing Cube. https:\/\/www.junichiyamaoka.net\/posts\/1748995?categoryIds=1959603"},{"key":"e_1_3_3_3_70_1","doi-asserted-by":"publisher","DOI":"10.1145\/3411763.3451586"},{"key":"e_1_3_3_3_71_1","doi-asserted-by":"publisher","DOI":"10.1109\/ROBIO.2010.5723554"},{"key":"e_1_3_3_3_72_1","doi-asserted-by":"publisher","DOI":"10.1145\/2984751.2985699"},{"key":"e_1_3_3_3_73_1","doi-asserted-by":"publisher","DOI":"10.1145\/3132272.3134143"},{"key":"e_1_3_3_3_74_1","doi-asserted-by":"publisher","DOI":"10.1145\/3306346.3323003"}],"event":{"name":"CHI '23: CHI Conference on Human Factors in Computing Systems","location":"Hamburg Germany","acronym":"CHI '23","sponsor":["SIGCHI ACM Special Interest Group on Computer-Human Interaction"]},"container-title":["Proceedings of the 2023 CHI Conference on Human Factors in Computing Systems"],"original-title":[],"link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3544548.3581437","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3544548.3581437","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,17]],"date-time":"2025-06-17T16:46:55Z","timestamp":1750178815000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3544548.3581437"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,4,19]]},"references-count":74,"alternative-id":["10.1145\/3544548.3581437","10.1145\/3544548"],"URL":"https:\/\/doi.org\/10.1145\/3544548.3581437","relation":{},"subject":[],"published":{"date-parts":[[2023,4,19]]},"assertion":[{"value":"2023-04-19","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}