Recently, planar pneumatic actuators, known as pouch motors, have gained attention in the fields of soft robotics and Human-Computer Interaction (HCI). However, achieving complex 3D shapes by pouch motors has been hindered by two challenges: (1) the slow operating speed of customized CNC machines, conventionally used for pouch fabrication and (2) the lack of control over the folding angle of individual pouches. To overcome these limitations, (1’) we introduce the use of a laser cutter to fabricate pouch motors. This approach enhances the fabrication process, enabling faster production of the pouch motors. Additionally, (2’) we propose laser-welding patterns that incorporate small barriers to control the folding angle of each pouch. By manipulating the welding patterns, we achieve nearly linear control over the folding angle of the pouches. In this paper, we present the design and fabrication process of laser-welded planar pneumatic actuators and showcase several design examples.

Previous research has established the relevance of digital tools in participatory processes of urban planning and design. Nevertheless, the debate about the role that these information and communication technologies (ICTs) play within the participatory process, with respect to established practices and methods, and in relation to community building and public space, is still ongoing. The purpose of this paper is to present the design and development of a participation tool that attempts to combine physical and digital forms of interaction with public space and the community in the context of an essential initiation practice in Japanese participatory planning, called machi-aruki (town walking or walking tours). This tool, named the Location Hunting Game (LHG), employs location data as a medium to connect digital and physical realms, and was developed in a broader theory-driven research endeavor that explores the potential of location data in collective urban planning and governance. This article presents the concepts and objectives of LHG, the game design, the interface design, the prototyping process, the technical specifications, and a summary of the preliminary results of a trial study. The results provide insights into the potentials and limitations of the current prototype and development challenges, and conclude with future research steps.

The Architecture, Engineering, and Construction (AEC) sector faces increasing pressure for higher production rates amidst a growing shortage of skilled labor, driving the demand for advanced robotic applications to enhance precision, efficiency, and adaptability in complex environments. This paper introduces a software setup designed to ensure collision-free movements for multi-axis robots in AEC scenarios. Our approach leverages the NVIDIA cuRobo framework's robust capabilities, seamlessly integrated with Grasshopper for Rhino 3D software (GH), a tool widely recognized for its versatility in parametric design. The integration of these technologies allows for the efficient online generation of optimal path movements, avoiding collisions even in highly intricate settings and changing environments. This is achieved in a remarkably short timeframe, enhancing productivity and reducing downtime. NVIDIAs framework's GPU-driven architecture paired with our GH parametric and controlling setup is a significant advancement, validated through a case study involving a complex, tree-like structure constructed from timber sticks. Using a six-axis robotic arm, the study demonstrates the system's capability to navigate and manipulate within congested spaces efficiently. With this enhanced automation workflow, new possibilities emerge for robotic applications, from industrial automation to sophisticated construction projects. Our GH software also allows visualization and exchange with URDF-models and better planning of collision logic, which was previously only possible with ROS and Nvidia Isaac technology.