In this article, we report on methodological insights gained from a workshop in which we collaborated with theater professionals to enact situated encounters between humans and robots on a mixed reality stage combining VR with real-life interaction. We deployed the skills of theater professionals to investigate the behaviors of humans encountering robots to speculate about the kind of interactions that may result from encountering robots in supermarket settings. The mixed reality stage made it possible to adapt the robot’s morphology quickly, as well as its movement and perceptual capacities, to investigate how this together co-determines possibilities for interaction. This setup allowed us to follow the interactions simultaneously from different perspectives, including the robot’s, which provided the basis for a collective phenomenological analysis of the interactions. Our work contributes to approaches to HRI that do not work toward identifying communicative behaviors that can be universally applied but instead work toward insights that can be used to develop HRI that is emergent, and situation- and robot-specific. Furthermore, it supports a more-than-human-design approach that takes the fundamental differences between humans and robots as a starting point for the creative development of new kinds of communication and interaction.

Social robots have become increasingly prominent in the realm of physical activity promotion. However, the technological complexity and primarily anthropomorphic designs of these robots pose challenges for their application in everyday settings. This study positions spherical robots as an emerging subtype of social robots and explores their potential to promote physical activity at home by identifying useful behavioral design patterns. To this end, we engaged theater professionals and human-robot interaction researchers in a 4-day workshop, leveraging a speculative design methodology. A puppeteer controlling a robotic ball and two actors improvised human-robot encounters in a staged home setting. These encounters were analyzed to identify instances where the ball triggered physical activity. From this analysis, we extracted nine design patterns that articulate robot behaviors for initiating physical interaction. Additionally, our findings revealed that these patterns could be combined into complex sequences to sustain physical activities, which are experienced as meaningful when framed within a narrative. We discuss the contents of these patterns and their potential value for home-based healthcare applications. Our contribution lies in articulating the potential of spherical robots for promoting physical activity at home through design patterns informed by a performative approach to human-robot interaction.

A plethora of toolkits, checklists, and workshops have been developed to bridge the well-documented gap between AI ethics principles and practice. Yet little is known about effects of such interventions on practitioners. We conducted an ethnographic investigation in a major European city organization that developed and works to integrate an ethics toolkit into city operations. We find that the integration of ethics tools by technical teams desta-bilises their boundaries, roles, and mandates around responsibilities and decisions. This lead to emotional discomfort and feelings of vulnerability, which neither toolkit designers nor the organization had accounted for.We leverage the concept of moral stress to argue that this affective experience is a core challenge to the successful integration of ethics tools in technical practice. Even in this best case scenario, organisational structures were not able to deal with moral stress that resulted from attempts to implement responsible technology development practices.

Purpose: eHealth-based exercise therapies were developed to increase stroke patients’ adherence to home-based motor rehabilitation. However, these eHealth tools face a rapid decrease in use after a couple of weeks. This study investigates stroke patients’ motivation for home-based upper extremity rehabilitation with eHealth tools and their relation with Basic Psychological Needs. Materials and methods: This is a qualitative study using thematic analysis. We conducted semi-structured interviews with stroke patients with upper extremity motor impairments, who were discharged home from a rehabilitation centre, after they interacted with a novel eHealth coach demonstrator in their homes for five consecutive days. Results: We included ten stroke patients. Thematic analysis resulted in eight themes for home-based rehabilitation motivation: Curiosity, Rationale, Choice, Optimal challenge, Reference, Encouragement, Social Support and Trustworthiness. Those themes are embedded into three Basic Psychological Needs: “Autonomy”, “Competence”, and “Relatedness”. Conclusion: Eight motivational themes related to the three Basic Psychological Needs describe stroke patients’ motivation for home-based upper extremity rehabilitation. We recommend considering those themes when developing a home-based eHealth intervention for stroke patients to increase the alignment of eHealth tools to the patient’s needs and reduce motivational decreases in home-based rehabilitation.

Using HRI theory to inform robot development is an important, but difficult, endeavor. This paper explores the relationship between HRI theory and HRI practice through a design project on the development of design guidelines for human-robot communication together with a dairy farming robot manufacturer. The design guidelines, a type of intermediate-level knowledge, were intended to enrich the specialized knowledge of the company on farming context with relevant academic knowledge. In this process, we identified that HRI theories were used as a frame, a tool, best practices, and a reference; while the HRI practice provided a context, a reference, and validation for the theories. Our intended contribution is to propose a means to facilitate exchanges both ways between HRI theory and practice and add to the emerging repertoire of designerly ways of producing knowledge in HRI.

Ethics toolkits, checklists and workshops are intended to help integrate ethical considerations into the design of data-driven systems. Yet little is known about what long-term effect such integrations might have. We conducted an ethnographic investigation of the adoption of an internal ethical toolkit in a major European city organization. We find that neither toolkit designers nor organizations that implement these, pay attention to the affective experience and emotional costs of integrating ethics toolkits into technology design team workflows. We demonstrate how moral awareness, while necessary for moral technical practice, also leads to unaccounted moral stress for practitioners.

The water motion computed using 3D and 2DH models in tidally dominated shallow waters can, in some cases, differ significantly. In 2DH models, bed friction is typically parametrised in terms of the depth-averaged velocity, whereas in 3D models, typically the near-bed velocity is used. This difference causes the bed shear stress in 2DH models to point towards the depth-averaged velocity, whereas in 3D models, it points towards the near-bed velocity, which are not necessarily the same. Focussing on linearised barotropic models, we derive an exact friction parametrisation for 2DH models such that the same depth-averaged dynamics are described as in the corresponding 3D model. The result is a convolutional friction formulation where the instantaneous friction depends on the present and past velocities, thus modifying the traditional 2DH friction formulation that only depends on the present depth-averaged velocity. In the case of harmonic (tidal) waves, this parametrisation has a clear physical interpretation and shows that the near-bed velocity should be parametrised as a rotated, deformed and phase shifted variant of the depth-averaged velocity. We demonstrate that in certain regions of the parameter space, it may be impossible to calibrate a 2DH model that uses a traditional friction law to reproduce the water levels from a 3D model, showing that the 3D friction formulation can be crucial to capture the 3D dynamics within a depth-averaged model. This phenomenon is explored in detail in a narrow well-mixed estuary.

eHealth solutions at home are gaining interest and relevance in healthcare; however, they face challenges in sustaining motivation for therapy due to difficulties in creating meaningful connections between technology and people receiving care. In this article, we explore how embodied agents in eHealth interventions could be designed to establish a motivating relationship with people in the context of home-based stroke rehabilitation. We studied this potential by referring to the need for social relatedness in Self-Determination-Theory (SDT) and how this translates to the design of embodied agents’ characters, the collaborations they afford and the partnerships they establish over time. In co-creative ideation sessions with stroke survivors, this potential was explored, resulting in an interactive prototype of ‘Edo the Coach’, i.e. an embodied agent for home-based upper extremity stroke rehabilitation that was evaluated by stroke survivors in their home contexts. Based on the insights gained, we reflect on the potential of using SDT for designing embodied agents that foster motivational relationships between patient and agent as an answer to the growing demand for eHealth-supported self-care within an increasingly digitized healthcare context.

This paper looks at how contestation in the context of algorithmic decision systems is essentially the progeny of repair for our more decentralized and abstracted digital world. The act of repair has often been a way for users to contest with bad design, substandard products, and disappointing outcomes—not to mention often being a necessary aspect of ensuring effective use over time. As algorithmic systems continue to make more decisions about our lives and futures, we need to look for new ways to contest their outcomes and repair potentially broken systems. Through looking at examples of contemporary repair and contestation and tracing the history of electronics repair from discrete components into the decentralized systems of today, we look at how the shared values of repair and contestation help surface ways to approach contestation using tactics of the Right to Repair movement and the instincts of the Fixer. Finally, we speculate on roles, communities, and a move towards an agonistic interaction space where response-ability rests more equally across user, designer, and system.

Sensor networks are increasingly commonplace in visions of smart cities and future healthcare systems, promising greater efficiency and increased wellbeing. However, the design of these technologies remains focused on specific users and fragmented by context, overlooking the diversity of needs, wants and values present when technologies, people, and lived realities interact within instrumented spaces. In this paper we present a workshop method – Sensing Care – that can help researchers, interdisciplinary design and development teams, and potentially affected users, to explore what it takes to design for living with sensor technologies that intersect and interact across private and public spaces, through speculative scenarios and role play. Drawing from three deployments of the workshop, we discuss how this approach supports the design of future care-oriented sensor networks, and helps designers understand what it means to live with complex technologies as people traverse diverse contexts.

Smart wearables are increasingly used to help people deal with stress. Still, a less explored area of research in this field concerns the partnerships that smart wearables can take on when engaging people in stress-coping activities. To facilitate further understanding of the human-wearable partnerships, we designed Grippy, a smart wearable system composed of a physical glove and a smartphone application to help the wearer actively explore and cope with stress in daily situations. We introduced Grippy, as a speculative probe, to six participants (four master students and two university employees) who wore it for five successive days. Participants were interviewed about their use experience of Grippy during and after these five days. Qualitative data collected from the interviews was interpreted regarding how Grippy could fit into people’s stress-coping activities across different daily contexts and what kinds of partnerships with the smart wearable were perceived by the participants. In addition, we reflect on the design issues that led to the mismatch between our design intentions and people’s actual use experiences. We discuss how these results have deepened our understanding of human-wearable partnerships in the context of stress management and the usability issues that might hinder the expression and acceptance of smart wearables designed as partners. We end the discussion by reflecting on the implications of smart wearables as partners in mental healthcare.

Purpose: It is important to support families in dealing with the distress that comes along with the diagnosis and treatment of childhood cancer. Therefore, we developed a playful tool that families can use at home to support their family functioning and safeguard their normal family life. We pilot tested this new tool called Mr.V and describe how families used and evaluated the tool, and how it could be further improved. Methods: Mr.V is an interactive dispenser that looks like a spaceman and proposes family activities. These activities are suggested by family members themselves and dispensed by the machine at unexpected moments. Mr.V produced data on how it was used, and a questionnaire and a semi-structured interview were used to evaluate the experiences of families and the potential of this tool. Results: Ten families with a child with cancer between 5 and 9 years old (M_age = 6.7 years) who were in active treatment (mixed diagnoses) participated (n = 47; n_patients = 10, n_siblings = 9, n_parents = 16). All families used Mr.V for multiple days and were very satisfied with the tool regarding its acceptability, feasibility, and potential effectiveness. They also had suggestions on how the tool could be further improved. Conclusion: Mr.V is an acceptable and feasible tool that can be implemented by families independently at home, regardless of their level of need for support. Mr.V promoted family activities and therefore has the potential to support family functioning and normal family life at home. Future research should further investigate the effectiveness of this tool.

In the field of Human-Computer Interaction (HCI), there is an increasing interest in designing for well-being. With this contribution, we introduce Tactful Objects as a design perspective on interactive artifacts that empower people in sensitive settings. We explore the concept of tactfulness by designing two interactive artifacts addressing the needs of families dealing with childhood cancer. The first, Mr.V, is an interactive dispenser to stimulate social activities in the family. The second, AscoltaMe, is a kind of walkie-talkie to enhance communication between family members. Eight families in treatment were invited to try out one of these artifacts at home. We report on how they perceived the objects’ impact on family life, how they used and appreciated the objects and how the objects embedded at home. The findings highlight that Tactful Objects enable people to act with respect for their vulnerabilities and circumstances by establishing partnerships and collaborations that are inviting and appropriate for the setting in which they are embedded. We then reflect on the contribution of the work for research in healthcare and design for other sensitive settings. We conclude by presenting the limitations of the study and provide directions for future work.

This paper develops a set of design strategies for promoting young children’s physical activity. These strategies are developed by taking the design perspective of Playscapes as a starting point. Playscapes suggests that three play qualities are key in promoting young children’s physical activity: free, bodily, and dispersed play. We present two field studies in a pediatric oncology center, in which we observed how these play qualities were reflected in children’s interactions with two Playscape designs: Stickz, a collection of branch-shaped objects, were placed in a semi-public waiting area; Fizzy, a self-propelled robotic ball, was introduced to patient rooms. Free play was analyzed according to the diversity of play activities, bodily play according to the diversity and exertion level of bodily movements, and dispersed play according to the floor area covered. Based on the findings, we discuss how Fizzy and Stickz contributed to each play quality, and derive a set of design strategies that can be applied in different contexts to stimulate young children’s physical activity. With these strategies, Playscapes offers a concrete alternative to existing approaches, supporting designers in directing interactions towards physical activity while leaving room for children’s unstructured and spontaneous play.

In the context of human-agent interaction, we see the emergence of computational artefacts that display hybridity because they can be experienced as tools and agents. In this paper we propose a tool-agent spectrum as an analytical lens that uses ‘intention’ as a central concept. This spectrum aims to clarify how a computational object can change from being conducive to the intentions of others (‘tool’) to appearing to have intentions of its own (‘agent’), or vice versa. We have applied this analytical lens to unravel people’s experiences in two hybrid cases; guide dogs as a living mobility aid for the visually impaired and an experimental wearable object named “BagSight” as a rudimentary artificial
counterpart. We compared both cases through the lens of a toolagent spectrum and elaborate on these results by discussing some of the principles by which computational artefacts can shift across the spectrum. We conclude by discussing the limitations of this study and provide suggestions for future work.

Introduction: Virtual reality (VR)-based interventions, wearable technology and text mining hold promising potential for advancing the way in which military and Veteran mental health conditions are diagnosed and treated. They have the ability to improve treatment protocol adherence, assist in the detection of mental health conditions, enhance resilience and increase a patient’s motivation to continue therapy. Methods: This article explores five cutting-edge research projects designed to leverage VR-based interventions, wearable technology, and text mining to improve military and Veteran mental health. A computer-animated virtual agent provides online coaching for posttraumatic stress disorder (PTSD) patients in their own homes to enhance treatment compliance. A head-mounted display safely immerses PTSD patients in a virtual world to relive past experiences and associate them with new meanings. Gaming and simulation technology are tested as a way to improve resilience and performance in military members in deployment-related scenarios. Guidelines are developed for the creation of wearable assistive technology for military members and Veterans. Text mining is explored as a way to assist in the detection of PTSD. Results: VR-based therapy, gaming and simulation, wearable assistive and sensory technology, and text mining hold promise for diagnosing, monitoring, and treating military mental health conditions. Discussion: The five research projects presented have made promising contributions to the field of military and Veteran mental health, either by advancing diagnostic trajectories, contributing to therapy or enhancing the process by developing new approaches to delivering preventive or curative care.

Since its introduction, Research through Design (RtD) has taken on a wide variety of forms. Currently, there is a lack of clarity about what connects and separates different RtD approaches. Several attempts have been made to clarify these matters, often in the form of a top-down categorization. Here we start on a different path, one that is open for different points of view and grounded in the ongoing concerns and needs of RtD practitioners. Over a two-month period, we engaged a local research community in weekly discussions about RtD in their work. Thoughts and questions were posted on a dedicated wall-space, maintained, and clustered over the weeks. As a result, we identified 11 themes that indicate concerns among participants about RtD. We suggest the themes can help in articulating different RtD ‘styles’ and ‘genres’, and believe this should be a collaborative and bottom-up effort that crosses disciplinary and institutional boundaries.

Our interactions form an intricate 'dance' - a dance requiring a fluent integration of both expressivity (e.g. to approach someone) and sensitivity (e.g. detect if you 'should' approach someone). Work on behaving artefacts has focused mostly on the social, emotional and aesthetic qualities that can be evoked - expressed - through interactions involving such artefacts. Meanwhile, novel methods from social signal processing and affective computing are beginning to imbue artefacts with a reflective awareness - a sensitivity - to the emergent social aspects of the interaction. Can we empower the expressivity of behaving artefacts by integrating it with such sensitivity? With this workshop we aim to bring together a range of perspectives, on the performative and technological opportunities for such artefacts, as well as on their potential (adverse) social and societal implications; to jointly establish what will be necessary to achieve Expressive\Sensitive artefacts that positively enrich and participate in the 'dance' of social interaction.

Stress is an important aspect of mental health which impacts on wellbeing. Wearable devices are increasingly used to help people deal with stress in daily life. However, most of the current applications focus on detecting and representing physiological data. In this paper we report on the design of an integrated wearable system composed of physiological sensors and a self-reporting interface. Through an iterative design process, we developed two prototypes and evaluated their technical performance in a laboratory condition. We elaborate on the issues we have encountered and addressed in the design iterations. We discuss how these lessons might contribute to the design of integrated sensing systems in real life. We end this paper by reviewing limitations of the study and directions for future work.Keywords: smart wearables, stress management, design for mental health

We propose an approach to designing smart wearables that act as partners to help people cope with stress in daily life. Our approach contributes to the developing field of smart wearables by addressing how technological capabilities can be designed to establish partnerships that consider the person, the situation, and the appropriate type of support. As such, this study also contributes to healthcare by opening up novel technology-supported routes to stress treatment and care. We present the results of a phenomenological study conducted with three war veterans who suffer from chronic posttraumatic stress disorder. We describe how their experiences of dealing with their stress informed our design approach, and discuss the implications of these results on smart wearables and stress management in general. We conclude by reflecting on the limitations of this study and directions for future work.