arXiv subjects

Madeline Balaam

Publications and source records attributed to Madeline Balaam.

5 recordsLinked to original sources

arXiv2026

Power from Potential: A Survey of Electrostatic Actuators for Haptics

As haptic interfaces integrate more seamlessly into wearables and everyday environments, they increasingly require actuators that are soft, thin, silent, and energy efficient. However, conventional motors and temperature-responsive polymers often struggle to deliver these properties due to their bulky form factors and high power consumption. High-Voltage Electrostatic Actuators (HVEAs), which generate force by applying an electric field to localized charge concentrations using high voltages and ultra-low currents, have recently emerged as a compelling alternative due to their fast, silent, and low-power operation within highly customizable and compliant form factors. This paper presents a focused review of HVEAs for haptics, examining four major classes: electrostatic switchable adhesives, dielectric elastomer actuators, soft electrohydraulic actuators, and electrokinetic pumps. For each class, we describe their mechanisms that enable haptic output; characterize their bandwidths, force densities, and spatial scalability; and evaluate their versatility for rendering cutaneous and kinesthetic feedback across wearable and world-grounded interfaces. Through this cross-technology analysis, we identify common design constraints and emerging strategies for improving ergonomics, streamlining fabrication, and integrating self-sensing. We conclude by outlining where HVEAs are uniquely positioned to advance haptic interaction and highlighting key research directions needed to translate these technologies into practical systems.

cs.RO↗

arXiv2026

Otherness as a Quality in Designing Expressive Robotic Touch

Haptic technologies have advanced rapidly, yet exploration of robotic touch remains dominated by replicating realistic environmental cues or hand gestures, which narrows the design space and risks social resistance. This paper argues for alternatives: grounded in the notion of "otherness" from human-robot interaction (HRI), we propose treating robotic touch's inherent otherness as a design quality. Instead of being a limitation in pursuing realism, otherness can be embraced to elicit ambiguity and provoke alternative interpretations, fostering expressive and evocative robotic touch design. To develop this perspective, we analyze inspirational art and design precedents and four design research cases through a reflective Research through Design (RtD) approach. Through this analysis, we articulate a set of design languages structured around why otherness matters for touch meaning-making, how it can be shaped through design strategies, and where it can be embedded within robotic touch systems. We conclude by reflecting on the tensions and risks involved in designing robotic touch with otherness in mind.

cs.HC↗

arXiv2025

Shape-Kit: A Design Toolkit for Crafting On-Body Expressive Haptics

Driven by the vision of everyday haptics, the HCI community is advocating for "design touch first" and investigating "how to touch well." However, a gap remains between the exploratory nature of haptic design and technical reproducibility. We present Shape-Kit, a hybrid design toolkit embodying our "crafting haptics" metaphor, where hand touch is transduced into dynamic pin-based sensations that can be freely explored across the body. An ad-hoc tracking module captures and digitizes these patterns. Our study with 14 designers and artists demonstrates how Shape-Kit facilitates sensorial exploration for expressive haptic design. We analyze how designers collaboratively ideate, prototype, iterate, and compose touch experiences and show the subtlety and richness of touch that can be achieved through diverse crafting methods with Shape-Kit. Reflecting on the findings, our work contributes key insights into haptic toolkit design and touch design practices centered on the "crafting haptics" metaphor. We discuss in-depth how Shape-Kit's simplicity, though remaining constrained, enables focused crafting for deeper exploration, while its collaborative nature fosters shared sense-making of touch experiences.

cs.HC↗

arXiv2021

Classroom Technology Deployment Matrix: A Planning, Monitoring, Evaluating and Reporting Tool

We present the Classroom Technology Deployment Matrix (CTDM), a tool for high-level Planning, Monitoring, Evaluating and Reporting of classroom deployments of educational technologies, enabling researchers, teachers and schools to work together for successful deployments. The tool is de-rived from a review of literature on technology adaptation (at the individual, process and organisation level), concluding that Normalization Process Theory, which seeks to explain the social processes that lead to the routine embedding of innovative technology in an existing system, would a suitable foundation for developing this matrix. This can be leveraged in the specific context of the classroom, specifically including the Normal Desired State of teachers. We explore this classroom context, and the developed CTDM, through look-ing at two separate deployments (different schools and teachers) of the same technology (Collocated Collaborative Writing), observing how lessons learned from the first changed our approach to the second. The descriptive and an-alytical value of the tool is then demonstrated through map-ping these observation to the matrix and can be applied to future deployments.

cs.HC↗

arXiv2019

The role of artificial intelligence in achieving the Sustainable Development Goals

The emergence of artificial intelligence (AI) and its progressively wider impact on many sectors across the society requires an assessment of its effect on sustainable development. Here we analyze published evidence of positive or negative impacts of AI on the achievement of each of the 17 goals and 169 targets of the 2030 Agenda for Sustainable Development. We find that AI can support the achievement of 128 targets across all SDGs, but it may also inhibit 58 targets. Notably, AI enables new technologies that improve efficiency and productivity, but it may also lead to increased inequalities among and within countries, thus hindering the achievement of the 2030 Agenda. The fast development of AI needs to be supported by appropriate policy and regulation. Otherwise, it would lead to gaps in transparency, accountability, safety and ethical standards of AI-based technology, which could be detrimental towards the development and sustainable use of AI. Finally, there is a lack of research assessing the medium- and long-term impacts of AI. It is therefore essential to reinforce the global debate regarding the use of AI and to develop the necessary regulatory insight and oversight for AI-based technologies.

cs.CY↗