Overview of the Transforcer system and design approach: (a) the five scenarios studied, (b) a diagram of the Transforcer prototype, (c) an excerpt of the force design space illustrating key force properties and couplings used across the scenarios, and (d) exemplar interactions showing how participants engaged with the Transforcer through force-based actions, such as grabbing, pushing, stroking, and pulling.
Force Pixel design space, including Force properties (normal, shear, and rotary force), Static geometries (such as shape, material, size, form factor, and multiplicity), and Force coupling (user-driven, dialogic, or system-guided force).
The Transforcer prototype consists of a small platform on which the user can place the palm of their hand. Interaction occurs through the fabric membrane, which allows force to be transmitted safely while obscuring the underlying mechanism. Beneath the opening, three actuators generate vertical, lateral, and rotational forces corresponding to the three force properties in the design space.
Overview of 5 scenarios: (i) Mindfulness interactions through system-guided normal-force breathing (#1) or dialogic shear-based fidgeting (#2). (ii) Setting and adjusting time through user-driven shear rotary force (#1) or pull/push force (#2). (iii) Making privacy- and security-related selections through dialogic shear and push interactions (#1), or performing user-driven password unlocking through a sequence of pushes and shears (#2). (iv) Handling notifications through diagolic normal and shear force interactions with a stack (#1), receiving system-guided force messages using normal force (#2), or combining force modalities for more intricate force messages (#3). (v) Receiving navigation cues through system-guided pokes (#1), slides (#2), or twists (#3) in the surface.Overview
- Conference: DIS 2026
- Type: Full paper
- Goal: Explore how people interpret surface-based force interactions.
People
Kim Sauvé
James Nash
Sunmi Lawal
Owen Chow
Alvaro Favaratto Santos
Jason Alexander
Links
Abstract
In the physical world, the force required to interact with an object provides rich information about its material properties and intended use: some objects deform easily when force is applied (e.g. a pillow) while others resist our attempts (e.g. a spring). Recent advances in haptic technology support integrating force modalities into interactive surfaces, presenting novel ways to convey material properties and create engaging experiences. However, little is known about how people perceive and interpret surface-based force interactions. To address this, we designed the Transforcer, a device generating normal, shear, and rotational forces, and studied user perceptions in different scenarios. Our findings show that force is experienced as a multi-layered interaction: bodily perception grounds interpretation, material qualities convey intent and control, and meaningful interactions emerge when body, task, and system align. We contribute (i) a design space of surface-based force interactions; (ii) the design and implementation of the Transforcer; (iii) findings from a semi-structured interview study; and (iv) design recommendations.