{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,15]],"date-time":"2026-07-15T20:45:17Z","timestamp":1784148317994,"version":"3.55.0"},"publisher-location":"New York, NY, USA","reference-count":61,"publisher":"ACM","content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":[],"published-print":{"date-parts":[[2026,4,13]]},"DOI":"10.1145\/3772318.3791706","type":"proceedings-article","created":{"date-parts":[[2026,4,13]],"date-time":"2026-04-13T09:47:11Z","timestamp":1776073631000},"page":"1-15","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":1,"title":["AirForce: Personal Fabrication of Large-Scale, Load-Bearing Animatronics Structures from a Single Tube"],"prefix":"10.1145","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3663-9757","authenticated-orcid":false,"given":"Lukas","family":"Rambold","sequence":"first","affiliation":[{"name":"Human Computer Interaction Lab, Hasso Plattner Institute, Potsdam, Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9427-2861","authenticated-orcid":false,"given":"Robert","family":"Kovacs","sequence":"additional","affiliation":[{"name":"Human Computer Interaction Lab, Hasso Plattner Institute, Potsdam, Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0009-9860-2336","authenticated-orcid":false,"given":"Min","family":"Deng","sequence":"additional","affiliation":[{"name":"Human Computer Interaction Lab, Hasso Plattner Institute, Potsdam, Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3779-9923","authenticated-orcid":false,"given":"Antonius","family":"Naumann","sequence":"additional","affiliation":[{"name":"Human Computer Interaction Lab, Hasso Plattner Institute, Potsdam, Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0000-9578-401X","authenticated-orcid":false,"given":"Konrad","family":"Gerlach","sequence":"additional","affiliation":[{"name":"Human Computer Interaction Lab, Hasso Plattner Institute, Potsdam, Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0008-5279-9316","authenticated-orcid":false,"given":"Horatio","family":"Hamkins","sequence":"additional","affiliation":[{"name":"Human Computer Interaction Lab, Hasso-Plattner-Institute, Potsdam, Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1005-0872","authenticated-orcid":false,"given":"Helena","family":"Lendowski","sequence":"additional","affiliation":[{"name":"Human Computer Interaction Lab, Hasso-Plattner-Institute, Potsdam, Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0834-6033","authenticated-orcid":false,"given":"Chiao","family":"Fang","sequence":"additional","affiliation":[{"name":"Human Computer Interaction Lab, Hasso Plattner Institute, Potsdam, Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4511-6619","authenticated-orcid":false,"given":"Shohei","family":"Katakura","sequence":"additional","affiliation":[{"name":"Human Computer Interaction Lab, Hasso Plattner Institute, Potsdam, Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7124-7439","authenticated-orcid":false,"given":"Conrad","family":"Lempert","sequence":"additional","affiliation":[{"name":"Human Computer Interaction Lab, Hasso Plattner Institute, Potsdam, Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5057-477X","authenticated-orcid":false,"given":"Muhammad","family":"Abdullah","sequence":"additional","affiliation":[{"name":"Human Computer Interaction Lab, Hasso Plattner Institute, Potsdam, Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5005-6868","authenticated-orcid":false,"given":"Patrick","family":"Baudisch","sequence":"additional","affiliation":[{"name":"Human Computer Interaction Lab, Hasso Plattner Institute, Potsdam, Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"320","published-online":{"date-parts":[[2026,4,13]]},"reference":[{"key":"e_1_3_3_1_2_2","unstructured":"Blender Foundation. 2024. blender. blender.org"},{"key":"e_1_3_3_1_3_2","doi-asserted-by":"publisher","DOI":"10.1145\/3491101.3519770"},{"key":"e_1_3_3_1_4_2","unstructured":"Rivertex Technical Fabrics\u00a0Group BV. 2025. Ecoseal\u2122 200. https:\/\/www.rivertex.com\/en\/product\/200"},{"key":"e_1_3_3_1_5_2","volume-title":"Space Grid Structures","author":"Chilton John","year":"1999","unstructured":"John Chilton. 1999. Space Grid Structures. Taylor & Francis Ltd."},{"key":"e_1_3_3_1_6_2","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6630851"},{"key":"e_1_3_3_1_7_2","unstructured":"Domel d.o.o.2025. 714 - Thruflow high speed and compact Brushless vacuum motors. https:\/\/www.domel.com\/product\/714-thruflow-high-speed-and-compact-103"},{"key":"e_1_3_3_1_8_2","unstructured":"Festo Corporation. 2025. Fluidic Muscle DMSP. https:\/\/www.festo.com\/us\/en\/p\/fluidic-muscle-id_DMSP"},{"key":"e_1_3_3_1_9_2","doi-asserted-by":"publisher","unstructured":"Joseph Greer Tania Morimoto Allison Okamura and Elliot Hawkes. 2017. Series Pneumatic Artificial Muscles (sPAMs) and Application to a Soft Continuum Robot. 2017 IEEE International Conference on Robotics and Automation (ICRA) 2017 (2017) 5503\u20135510. 10.1109\/ICRA.2017.7989648","DOI":"10.1109\/ICRA.2017.7989648"},{"key":"e_1_3_3_1_10_2","doi-asserted-by":"publisher","DOI":"10.1145\/3491102.3502099"},{"key":"e_1_3_3_1_11_2","doi-asserted-by":"publisher","unstructured":"Henry Heimlich. 1968. Valve Drainage of the Pleural Cavity. Diseases of the Chest 53 3 (March 1968) 282\u2013287. 10.1378\/chest.53.3.282","DOI":"10.1378\/chest.53.3.282"},{"key":"e_1_3_3_1_12_2","doi-asserted-by":"publisher","unstructured":"Babar Jamil Namsoo Oh Jin-Gyu Lee Haneol Lee and Hugo Rodrigue. 2024. A Review and Comparison of Linear Pneumatic Artificial Muscles. International Journal of Precision Engineering and Manufacturing-Green Technology 11 1 (Jan. 2024) 277\u2013289. 10.1007\/s40684-023-00531-6","DOI":"10.1007\/s40684-023-00531-6"},{"key":"e_1_3_3_1_13_2","doi-asserted-by":"publisher","DOI":"10.1145\/3472749.3474802"},{"key":"e_1_3_3_1_14_2","doi-asserted-by":"crossref","unstructured":"Marirena Kladeftira Matthias Leschok Eleni Skevaki and Yael Ifrah. 2021. Digital Bamboo. https:\/\/dbt.arch.ethz.ch\/project\/digital-bamboo\/","DOI":"10.52842\/conf.acadia.2024.1.406"},{"key":"e_1_3_3_1_15_2","doi-asserted-by":"publisher","unstructured":"Ryota Kobayashi Hiroyuki Nabae and Koichi Suzumori. 2023. Large Torsion Thin Artificial Muscles Tensegrity Structure for Twist Manipulation. IEEE Robotics and Automation Letters 8 3 (March 2023) 1207\u20131214. 10.1109\/LRA.2023.3236889","DOI":"10.1109\/LRA.2023.3236889"},{"key":"e_1_3_3_1_16_2","doi-asserted-by":"publisher","DOI":"10.1145\/3242587.3242607"},{"key":"e_1_3_3_1_17_2","doi-asserted-by":"publisher","DOI":"10.1145\/3025453.3026016"},{"key":"e_1_3_3_1_18_2","doi-asserted-by":"publisher","unstructured":"Kohei Kurita Fumihiro Inoue Noriyuki Furuya Takashi Shiokawa and Michihiro Natori. 2001. Development of Adaptive Roof Structure by Variable Geometry Truss. Krakow Poland. 10.22260\/ISARC2001\/0012","DOI":"10.22260\/ISARC2001\/0012"},{"key":"e_1_3_3_1_19_2","doi-asserted-by":"publisher","unstructured":"Haneol Lee and Hugo Rodrigue. 2023. Harnessing the nonlinear properties of buckling inflatable tubes for complex robotic behaviors. Materials Today 63 (March 2023) 59\u201388. 10.1016\/j.mattod.2023.02.005","DOI":"10.1016\/j.mattod.2023.02.005"},{"key":"e_1_3_3_1_20_2","unstructured":"Leister Technologies AG. 2025. Leister HEMTEK ST. https:\/\/www.leister.com\/en\/product\/Hemtek-ST\/157-868"},{"key":"e_1_3_3_1_21_2","doi-asserted-by":"publisher","DOI":"10.1145\/3613904.3642949"},{"key":"e_1_3_3_1_22_2","unstructured":"Michael\u00a0J. Littlehorn. 1999. Balloon valve and method of producing. https:\/\/patents.google.com\/patent\/US5934310A\/en"},{"key":"e_1_3_3_1_23_2","unstructured":"Luke Lo. 2001. Inflation nozzle structure of an inflatable envelope. https:\/\/patents.google.com\/patent\/US6170513B1\/en"},{"key":"e_1_3_3_1_24_2","doi-asserted-by":"publisher","DOI":"10.1145\/3586183.3606721"},{"key":"e_1_3_3_1_25_2","doi-asserted-by":"publisher","DOI":"10.1145\/3491102.3517577"},{"key":"e_1_3_3_1_26_2","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2008.4650888"},{"key":"e_1_3_3_1_27_2","unstructured":"Chico MacMurtrie. 2006. Interactive Birds. http:\/\/amorphicrobotworks.org\/interactive-birds"},{"key":"e_1_3_3_1_28_2","unstructured":"MERO-TSK International GmbH & Co. KG.2025. MERO. https:\/\/mero.de\/en\/"},{"key":"e_1_3_3_1_29_2","doi-asserted-by":"publisher","unstructured":"Koryo Miura Hiroshi Furuya and Kenichi Suzuki. 1985. Variable geometry truss and its application to deployable truss and space crane arm. Acta Astronautica 12 7 (July 1985) 599\u2013607. 10.1016\/0094-5765(85)90131-6","DOI":"10.1016\/0094-5765(85)90131-6"},{"key":"e_1_3_3_1_30_2","doi-asserted-by":"publisher","DOI":"10.1145\/3544548.3581353"},{"key":"e_1_3_3_1_31_2","volume-title":"Fundamentals of Fluid Power: Part 2: Pneumatics (2nd edition ed.)","author":"Murrenhoff Hubertus","year":"2016","unstructured":"Hubertus Murrenhoff and Olivier Reinertz. 2016. In Fundamentals of Fluid Power: Part 2: Pneumatics (2nd edition ed.). Shaker."},{"key":"e_1_3_3_1_32_2","doi-asserted-by":"publisher","unstructured":"Koya Narumi Hiroki Sato Kenichi Nakahara Young\u00a0ah Seong Kunihiko Morinaga Yasuaki Kakehi Ryuma Niiyama and Yoshihiro Kawahara. 2020. Liquid Pouch Motors: Printable Planar Actuators Driven by Liquid-to-Gas Phase Change for Shape-Changing Interfaces. IEEE Robotics and Automation Letters 5 3 (July 2020) 3915\u20133922. 10.1109\/LRA.2020.2983681","DOI":"10.1109\/LRA.2020.2983681"},{"key":"e_1_3_3_1_33_2","unstructured":"NetworkX developers. 2025. bridges. https:\/\/networkx.org\/documentation\/stable\/reference\/algorithms\/generated\/networkx.algorithms.bridges.bridges.html"},{"key":"e_1_3_3_1_34_2","unstructured":"NetworkX developers. 2025. eulerize. https:\/\/networkx.org\/documentation\/stable\/reference\/algorithms\/generated\/networkx.algorithms.euler.eulerize.html"},{"key":"e_1_3_3_1_35_2","doi-asserted-by":"publisher","unstructured":"Pham\u00a0Huy Nguyen and Wenlong Zhang. 2020. Design and Computational Modeling of Fabric Soft Pneumatic Actuators for Wearable Assistive Devices. Scientific Reports 10 1 (June 2020) 9638. 10.1038\/s41598-020-65003-2","DOI":"10.1038\/s41598-020-65003-2"},{"key":"e_1_3_3_1_36_2","doi-asserted-by":"publisher","unstructured":"Namsoo Oh and Hugo Rodrigue. 2023. Toward the Development of Large-Scale Inflatable Robotic Arms Using Hot Air Welding. Soft Robotics 10 1 (Feb. 2023) 88\u201396. 10.1089\/soro.2021.0134","DOI":"10.1089\/soro.2021.0134"},{"key":"e_1_3_3_1_37_2","doi-asserted-by":"publisher","DOI":"10.1145\/3613905.3648640"},{"key":"e_1_3_3_1_38_2","doi-asserted-by":"publisher","DOI":"10.1145\/3689050.3704956"},{"key":"e_1_3_3_1_39_2","doi-asserted-by":"publisher","unstructured":"Ciar\u00e1n\u00a0T. O\u2019Neill Connor\u00a0M. McCann Cameron\u00a0J. Hohimer Katia Bertoldi and Conor\u00a0J. Walsh. 2022. Unfolding Textile-Based Pneumatic Actuators for Wearable Applications. Soft Robotics 9 1 (Feb. 2022) 163\u2013172. 10.1089\/soro.2020.0064","DOI":"10.1089\/soro.2020.0064"},{"key":"e_1_3_3_1_40_2","unstructured":"OtherLab. 2012. The Ant-Roach. https:\/\/www.otherlab.com\/blog-posts\/the-ant-roach-1"},{"key":"e_1_3_3_1_41_2","doi-asserted-by":"publisher","DOI":"10.1145\/2984511.2984520"},{"key":"e_1_3_3_1_42_2","doi-asserted-by":"publisher","unstructured":"Yeong\u00a0Jae Park Myung\u00a0Gook Ko Babar Jamil Jiseong Shin and Hugo Rodrigue. 2022. Simple and Scalable Soft Actuation Through Coupled Inflatable Tubes. IEEE Access 10 (2022) 41993\u201342003. 10.1109\/ACCESS.2022.3167964","DOI":"10.1109\/ACCESS.2022.3167964"},{"key":"e_1_3_3_1_43_2","doi-asserted-by":"publisher","DOI":"10.1145\/3586183.3606820"},{"key":"e_1_3_3_1_44_2","volume-title":"Deployable Controllable Geometry Truss Beam","author":"Rhodes Marvin","year":"1985","unstructured":"Marvin Rhodes. 1985. Deployable Controllable Geometry Truss Beam. Langley Research Center."},{"key":"e_1_3_3_1_45_2","doi-asserted-by":"publisher","unstructured":"Daniela Rus and Michael Tolley. 2015. Design fabrication and control of soft robots. Nature 521 7553 (May 2015) 467\u2013475. 10.1038\/nature14543","DOI":"10.1038\/nature14543"},{"key":"e_1_3_3_1_46_2","doi-asserted-by":"publisher","unstructured":"Ali Sadeghi Alessio Mondini and Barbara Mazzolai. 2017. Toward Self-Growing Soft Robots Inspired by Plant Roots and Based on Additive Manufacturing Technologies. Soft Robotics 4 3 (Sept. 2017) 211\u2013223. 10.1089\/soro.2016.0080","DOI":"10.1089\/soro.2016.0080"},{"key":"e_1_3_3_1_47_2","doi-asserted-by":"publisher","DOI":"10.1145\/3025453.3025898"},{"key":"e_1_3_3_1_48_2","doi-asserted-by":"publisher","DOI":"10.1145\/3526113.3545642"},{"key":"e_1_3_3_1_49_2","volume-title":"A Course in Combinatorial Optimization","author":"Schrijver Alexander","year":"2017","unstructured":"Alexander Schrijver. 2017. Weighted matching algorithm. In A Course in Combinatorial Optimization. CWI."},{"key":"e_1_3_3_1_50_2","doi-asserted-by":"publisher","unstructured":"Robert\u00a0F. Shepherd Filip Ilievski Wonjae Choi Stephen\u00a0A. Morin Adam\u00a0A. Stokes Aaron\u00a0D. Mazzeo Xin Chen Michael Wang and George\u00a0M. Whitesides. 2011. Multigait soft robot. Proceedings of the National Academy of Sciences 108 51 (Dec. 2011) 20400\u201320403. 10.1073\/pnas.1116564108","DOI":"10.1073\/pnas.1116564108"},{"key":"e_1_3_3_1_51_2","doi-asserted-by":"publisher","DOI":"10.1145\/3411763.3451513"},{"key":"e_1_3_3_1_52_2","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8206098"},{"key":"e_1_3_3_1_53_2","doi-asserted-by":"publisher","DOI":"10.1145\/3332167.3357105"},{"key":"e_1_3_3_1_54_2","doi-asserted-by":"publisher","DOI":"10.1145\/3328933"},{"key":"e_1_3_3_1_55_2","doi-asserted-by":"publisher","unstructured":"Masashi Takeichi Koichi Suzumori Gen Endo and Hiroyuki Nabae. 2017. Development of Giacometti Arm With Balloon Body. IEEE Robotics and Automation Letters 2 2 (April 2017) 951\u2013957. 10.1109\/LRA.2017.2655111","DOI":"10.1109\/LRA.2017.2655111"},{"key":"e_1_3_3_1_56_2","doi-asserted-by":"publisher","DOI":"10.1145\/3332165.3347958"},{"key":"e_1_3_3_1_57_2","doi-asserted-by":"publisher","unstructured":"Nathan Usevitch Zachary Hammond Mac Schwager Allison Okamura Elliot Hawkes and Sean Follmer. 2020. An untethered isoperimetric soft robot. Science Robotics 5 40 (March 2020) eaaz0492. 10.1126\/scirobotics.aaz0492","DOI":"10.1126\/scirobotics.aaz0492"},{"key":"e_1_3_3_1_58_2","unstructured":"Velcro IP Holdings LLC. 2025. Hook and Loop Tape Double Sided VELCRO\u00ae Brand Fasteners. https:\/\/www.velcro.com\/business\/products\/self-engaging-and-back-to-back\/"},{"key":"e_1_3_3_1_59_2","doi-asserted-by":"publisher","DOI":"10.1145\/3290607.3312860"},{"key":"e_1_3_3_1_60_2","doi-asserted-by":"publisher","unstructured":"Michael Wehner Ryan Truby Daniel Fitzgerald Bobak Mosadegh George Whitesides Jennifer Lewis and Robert Wood. 2016. An integrated design and fabrication strategy for entirely soft autonomous robots. Nature 536 7617 (Aug. 2016) 451\u2013455. 10.1038\/nature19100","DOI":"10.1038\/nature19100"},{"key":"e_1_3_3_1_61_2","unstructured":"Jonathan Westhues. 2025. SolveSpace. https:\/\/github.com\/solvespace\/solvespace"},{"key":"e_1_3_3_1_62_2","doi-asserted-by":"publisher","DOI":"10.1145\/3613904.3642933"}],"event":{"name":"CHI 2026: CHI Conference on Human Factors in Computing Systems","location":"Barcelona Spain","acronym":"CHI '26","sponsor":["SIGCHI ACM Special Interest Group on Computer-Human Interaction"]},"container-title":["Proceedings of the 2026 CHI Conference on Human Factors in Computing Systems"],"original-title":[],"link":[{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3772318.3791706","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,15]],"date-time":"2026-04-15T10:26:10Z","timestamp":1776248770000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3772318.3791706"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,4,13]]},"references-count":61,"alternative-id":["10.1145\/3772318.3791706","10.1145\/3772318"],"URL":"https:\/\/doi.org\/10.1145\/3772318.3791706","relation":{},"subject":[],"published":{"date-parts":[[2026,4,13]]},"assertion":[{"value":"2026-04-13","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}