Publications
ACM CHI 2025
Shape-Kit: A Design Toolkit for Crafting On-Body Expressive Haptics
Ran Zhou, Jianru Ding, Chenfeng Gao, Wanli Qian, Benjamin Erickson, Madeline Balaam, Daniel Leithinger, Ken Nakagaki
ACM CHI 2025, Interactivity
Demonstrating Shape-Kit: A Design Toolkit for Crafting On-Body Expressive Haptics
Ran Zhou, Jianru Ding, Chenfeng Gao, Wanli Qian, Benjamin Erickson, Madeline Balaam, Daniel Leithinger, Ken Nakagaki
ACM UIST 2024
CARDinality: Interactive Card-shaped Robots with Locomotion and Haptics using Vibration
Aditya Retnanto, Emilie Faracci, Anup Sathya, Yu-Kai Hung, Ken Nakagaki
ACM UIST 2024
TorqueCapsules: Fully-Encapsulated Flywheel Actuation Modules for Designing and Prototyping Movement-Based and Kinesthetic Interaction
Willa Yunqi Yang, Yifan Zou, Jingle Huang, Raouf Abujaber, and Ken NAkagaki
ACM UIST 2024
SHAPE-IT: Exploring Text-to-Shape-Display for Generative Shape-Changing Behaviors with LLMs
Wanli Qian, Chenfeng Gao, Anup Sathya, Ryo Suzuki, and Ken Nakagaki
ACM UIST2024 Poster
Towards Multimodal Interaction with AI-Infused Shape-Changing Interfaces
Chenfeng Gao, Wanli Qian, Richard Liu, Rana Hanocka, and Ken Nakagaki
ACM UIST2024 Poster
Game Jam with CARDinality: A Case Study of Exploring Play-based Interactive Applications
Emilie Faracci, Aditya Retnanto, Anup Sathya, Ashlyn Sparrow, and Ken Nakagaki
ACM UIST2024 Workshop
HRI and UIST: Designing Socially Engaging Robot Interfaces
Pragathi Praveena, Arissa J. Sato, Amy Koike, Ran Zhou, Nathan Thomas White and Ken Nakagaki
ACM DIS 2024
“Push-That-There”: Tabletop Multi-robot Object Manipulation via Multimodal 'Object-level Instruction'
Keru Wang, Zhu Wang, Ken Perlin, Ken Nakagaki
ACM C&C Artwork
Threading Space: Kinetic Sculpture Exploring Spatial Interaction Using Threads In Motion
Ramarko Bhattacharya, You Li, Emilie Faracci, Harrison Dong, Yi Zheng, Ken Nakagaki
ACM CHI2024
Attention Receipts: Utilizing the Materiality of Receipts to Improve Screen-time Reflection on YouTube
Anup Sathya, Ken Nakagaki
ACM TEI2024
FabRobotics: Fusing 3D Printing with Mobile Robots to Advance Fabrication, Robotics, and Interaction
Ramarko Bhattacharya*, Jonathan Lindstrom*, Ahmad Taka*, Martin Nisser, Stefanie Mueller, Ken Nakagaki
ACM TEI2024 Studio
[e]Motion: Designing Expressive Movement in Robots and Actuated Tangible User Interfaces
Vali Lalioti, Ken Nakagaki, Ramarko Bhattacharya, Yasuaki Kakehi
ACM DIS2023
Physica: Interactive Tangible Physics Simulation based on Tabletop Mobile Robots Towards Explorable Physics Education
Jiatong Li, Ryo Suzuki, Ken Nakagaki
ACM TEI2023
Xs: Interactive Scissor Mechanisms as Portable and Customizable Shape-Changing Interfaces
Vasco Xu, and Ken Nakagaki
ACM CHI2023
AeroRigUI: Actuated TUIs for Spatial Interaction using Rigging Swarm Robots on Ceilings in Everyday Space
Lilith Yu*, Chenfeng (Jesse) Gao*, David Wu, Ken Nakagaki
ACM CHI2023
ThrowIO: Actuated TUIs that Facilitate “Throwing and Catching” Spatial Interaction with Overhanging Mobile Wheeled Robots
Ting-Han (Timmy) Lin, Willa Yunqi Yang, Ken Nakagaki
ACM UIST2022
Sketched Reality: Sketching Bi-Directional Interactions Between Virtual and Physical Worlds with AR and Actuated Tangible UI
Hiroki Kaimoto, Kyzyl Monteiro, Mehrad Faridan, Jiatong Li, Samin Farajian, Yasuaki Kakehi, Ken Nakagaki, and Ryo Suzuki
ACM UIST2022 SIC
ShadowAstro: Levitating Constellation Silhouette for SpatialExploration and Learning
Jiatong Li, Chenfeng Gao, and Ken Nakagaki
ACM CHI2022
(Dis)Appearables: A Concept and Method for Actuated Tangible UIs to Appear and Disappear based on Stages
Ken Nakagaki, Jordan L Tappa, Yi Zheng, Jack Forman, Joanne Leong, Sven Koenig and Hiroshi Ishii
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ACM TEI2021
inDepth: Force-based Interaction with Objects beyond A Physical Barrier
Takatoshi Yoshida, Junichi Ogawa, Kyung Yun Choi, Sanad Bushnaq, Ken Nakagaki and Hiroshi Ishii
ACM UIST2021
OmniFiber: Integrated Fluidic Fiber Actuators for Weaving Movement based Interactions into the ‘Fabric of Everyday Life’
Ozgun Kilic, Ali Shtarbanov, Hila Mor, Ken Nakagaki, Jack Forman, Karen Modrei, Seung Hee Jeong, Klas Hjort, Kristina Höök, and Hiroshi Ishii
ACM CHI2020 Case Study
KI/OSK: Practice Study of Load Sensitive Board for Farmers Market
Yoshino, Koichi; Yoshida, Takatoshi; Sasaki, Yo; Shen, Xiaoyan; Nakagaki, Ken; Ishii, Hiroshi;
ACM TEI2020
TRANS-DOCK: Expanding the interactivity of pin-based shape displays by docking mechanical transducers
Ken Nakagaki, Yingda (Roger) Liu, Chloe Nelson-Arzuaga and Hiroshi Ishii
ACM CHI2020
Venous Materials: Towards Interactive Fluidic Mechanisms
Hila Mor, Yu Tianyu, Ken Nakagaki, Benjamin Harvey Miller, Yichen Jia and Hiroshi Ishii
ACM TEI2020 WiP
WraPr: Spool-Based Fabrication for Object Creation and Modification
Joanne Leong, Jose Martinez, Florian Perteneder, Ken Nakagaki, and Hiroshi Ishii
ACM UIST2020 Doctoral Symposium
Mechanical Shells: Physical Add-ons for Extending and Reconfiguring the Interactivities of Actuated TUIs
Ken Nakagaki
ACM UIST 2020
HERMITS: Dynamically Reconfiguring the Interactivity of Self-Propelled TUIs with Mechanical Shell Add-ons
Ken Nakagaki, Joanne Leong, Jordan L Tappa, Joao Henrique Wilbert and Hiroshi Ishii
ACM TEI2020 Studio
Prototyping Interactive Fluidic Mechanisms
Mor, Hila; Nakagaki, Ken; Tianyu, Yu; Miller, Benjamin Harvey; Jia, Yichen; Ishii, Hiroshi;
ACM TEI2019
inFORCE: Bi-directional 'Force' Shape Display for Haptic Interaction
Ken Nakagaki, Daniel Fitzgerald, Zhiyaho (John) Ma, Luke Vink, Daniel Levine, Clark Della Silva and Hiroshi Ishii
ACM UIST2019
SCALE: Enhancing Force-based Interaction by Processing Load Data from Load Sensitive Modules
Takatoshi Yoshida, Xiaoyan Shen, Tal Achituv, Koichi Yoshino, Ken Nakagaki and Hiroshi Ishii
ACM CHI2018 Video Showcase
Programmable droplets for interaction
Udayan Umapathi, Patrick Shin, Ken Nakagaki, Samantha Chin, Tina Xu, Janice Gu, Will Walker, Daniel Leithinger and Hiroshi Ishii
ACM UIST2018 Poster
reMi: Translating Ambient Sounds of Moment into Tangible and Shareable Memories through Animated Paper
Kyung Yun Choi, Darle Shinsato, Shane Zhang, Ken Nakagaki, and Hiroshi Ishii
ACM CHI2018
Force jacket: Pneumatically-actuated jacket for embodied haptic experiences
Alexandra Delazio, Ken Nakagaki, Roberta Klatzky, Scott E. Hudson, Jill F. Lehman and Alanson Sample
ACM DIS2017
AnimaStage: hands-on animated craft on pin-based shape displays
Ken Nakagaki, Udayan Umapathi, Daniel Leithinger and Hiroshi Ishii
IEEE Pervasive Computing 2017
Designing line-based shape-changing interfaces
Ken Nakagaki, Sean Follmer, Artem Dementyev, Joseph A Paradiso, and Hiroshi Ishii
ACM UIST2016
ChainFORM: a linear integrated modular hardware system for shape changing interfaces
Ken Nakagaki, Artem Dementyev, Sean Follmer, Joseph A. Paradiso and Hiroshi Ishii
M.S. Thesis (MIT)
LineFORM: designing interactions with actuated curve interfaces
Ken Nakagaki
ACM TEI2016 WiP
Hydromorph: Shape changing water membrane for display and interaction
Ken Nakagaki, Pasquale Totaro, Jim Peraino, Thariq Shihipar, Chantine Akiyama, Yin Shuang, Anthony Stuart and Hiroshi Ishii
ACM CHI2016
Materiable: Rendering dynamic material properties in response to direct physical touch with shape changing interfaces
Ken Nakagaki, Luke Vink, Jared Counts, Daniel Windham, Daniel Leithinger, Sean Follmer and Hiroshi Ishii
ACM CHI2016 LBW
Linked-stick: Conveying a physical experience using a shape-shifting stick
Ken Nakagaki, Chikara Inamura, Pasquale Totaro, Thariq Shihipar, Chantine Akiyama, Yin Shuang and Hiroshi Ishii
ACM CHI 2015 Video Showcase
TRANSFORM as Adaptive and Dynamic Furniture
Luke Vink, Viirj Kan, Ken Nakagaki, Daniel Leithinger, Sean Follmer, Philipp Schoessler, Amit Zoran and Hiroshi Ishii
ACM UIST2016
LineFORM: Actuated curve interfaces for display, interaction, and constraint
Ken Nakagaki, Sean Follmer and Hiroshi Ishii
ACM SIGGRAPH2014 Posters
metamoCrochet: augmenting crocheting with bi-stable color changing inks
Momoko Okazaki, Ken Nakagaki, and Yasuaki Kakehi
ACM CHI2014 Interactivity
COMP* PASS: A compass-based drawing interface
Ken Nakagaki and Yasuaki Kakehi
ACE 2013
Petanko Roller: A VR system with a rolling-pin haptic interface for entertainment
Ken Nakagaki, Keina Konno, Shuntaro Tashiro, Ayaka Ikezawa, Yusaku Kimura, Masaru Jingi and Yasuaki Kakehi
ACM UIST2012 Posters
Needle user interface: a sewing interface using layered conductive fabrics
Ken Nakagaki and Yasuaki Kakehi
ACM SIGGRAPH2011 Posters
SonalShooter: a spatial augmented reality system using handheld directional speaker with camera
Ken Nakagaki and Yasuaki Kakehi