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Tangible interaction with 3D printed modular robots through multi-channel sensors

Tangible interaction with customized products integrating sensors and actuators recently grows into an interdisciplinary research area in computer graphics and human-robot interaction (e.g., [Groeger et al. 2016; Yu et al. 2018]). In this paper, we introduce tangible interaction into 3D printed modular robots. Our user study demonstrates that interacting with our robots can effectively improve human spatial ability, which plays an important role during a person's development in science, technology, engineering or math (STEM).