GHASSAN ALSERAYHI
MSc. Arch, M. Arch, B. Arch, Assoc. SCE
ARCHITECT + EDUCATOR + RESEARCHER
Integrating Sensory with Knitted Pneumatics to Promote Social Interaction, Spatial Agency, and Theatrical Design
SUBJECT: ‘MS.ARCH CAPSTONE’
TYPE: DESIGN RESEARCH STUDIO
INSTRUCTOR: SEAN AHLIQUEST
DATE: 2023
The primary focus of this research project is to adopt a holistic approach to understand the behavior and applications of material systems, rather than studying individual components in isolation. Specifically, the study concentrates on characterizing knit-constrained actuators that facilitate bending and twisting motions, as opposed to linear actuation. Bending actuation in this research involves the combination of an elastomeric air chamber with a flexible but non-stretchable layer, such as woven fiberglass cloth, to restrict strain. To further control swelling, high-strength fibers like polyester are utilized to limit inflation in specific areas according to the design. These soft mechanisms, unlike rigid mechanical joints and fixtures used in traditional robotics, offer greater efficiency for human interaction, considering the ability to predict and control pneumatic performance.
The knitting strategy controls the area and inflation allowance, while touch and pressure sensory systems trigger cause-and-effect actions, activating the pneumatics and changing motion and material behavior. The knit structure integrates inflatable silicone tubes with tubular knits, allowing control of motion direction and behavior. The project draws inspiration from advancements in pneumatic actuators and leverages design technology to develop interactive and dynamic micro-spaces using inflatable objects designed to resemble tentacles.
These tentacles provide kinesthetic feedback and promote exploration and social skills. Sensory design integrates principles of perception, empowerment, and participation to foster participatory spaces and sociological design. Informed by the concept of “puppetry as a reinforcement of cultural perceptions of the disabled body,” the installation empowers participants to actively co-create their micro-spaces. A socially responsive field structure, composed of digitally fabricated knits integrated with a pneumatic system, enables neurodiverse individuals—individuals with autism in this project’s case—to interact with and shape their surroundings. This promotes agency, inclusivity, and active social participation.
Individuals with autism often have unique sensory sensitivities that shape their perspective on the world. These sensitivities can lead to varying responses to environmental stimuli, including sounds, textures, odors, and lights. Some may find loud noises distressing, while others remain unfazed. Similarly, texture sensitivities can vary greatly among individuals with autism. J. Pickard’s paper, “Sensory Environments and Autism: Designing for the Sensory Experiences of Children and Adults with Autism Spectrum Disorder,” emphasizes the significance of considering sensory experiences in designing environments for individuals with autism. It highlights common sensitivities to light, sound, texture, and smells, explaining their impact on daily life and well-being.
Accordingly, the project explores how thoughtful design can create socially supportive, engaging, and inclusive spaces that reduce sensory overload and promote calmness, recognizing the profound effect sensory stimuli can have on the behavior, emotions, and overall well-being of individuals with autism. During the development of this research project, Taubman College, represented by Professor Sean Ahlquist, was involved in several lectures, tour visits, and science fairs at The Sprouted Sage and The Ann Arbor Academy to facilitate observation and the testing of ideas and prototypes. In its final stage of development, this project was installed at The Sprouted Sage for operation and further research development.
Stage Whispers: Unlocking New Realms
with Drama and Play
This research explores the integration of ‘dramatherapy’ and ‘participatory theater’ as valuable approaches for individuals with autism. Dramatherapy utilizes drama and storytelling to address emotional and psychological issues, offering a non-verbal and imaginative outlet for expression. It employs techniques like role-playing, storytelling, and improvisation to help individuals explore their feelings and enhance social and communication skills. Participatory theater, on the other hand, involves active audience participation and can be adapted to create sensory-rich, inclusive environments. By incorporating sensory design elements like lighting, sound, texture, and smell, participatory theater fosters a positive sensory experience tailored to the specific needs of individuals with autism. Both approaches provide opportunities for self-expression, skill development, and a sense of control in therapy sessions, contributing to inclusion and support for individuals with autism. Understanding and managing sensory sensitivities can enhance communication and social skills, especially for neurodiverse individuals, as well as help them feel more at ease in their surroundings and experience less stress and anxiety.
The installation mainly comprises three groups of jellyfish-like elements, each with three internal tentacles, and a field of separated tentacles. While the tentacles in the jellyfish groups inflate and deflate by triggering their sensors, the field is programmed to act as a background that is constantly breathing, inflating, and deflating.
Stitching Dynamics: The Choreography of Cloth Designing Textiles that Dance with Air
The textiles laboratory at Taubman College, equipped with an advanced STOLL 822 HP 7.2 multi-gauge knitting machine, spearheads the development of knitted constraints. This machine facilitates the digital fabrication of these actuated elbows within tubular knits by strategically manipulating stitch structures through specific ‘knit patterns.’ The images of material study (on the left) exemplify the results of these knit patterns, showcasing the intricacies achieved through this process. Altering stitch counts generates extensible or restrictive regions within the knit, defining the elbow’s behavior during inflation and deflation (as shown in the image on the right). ‘Shaping’ is another technique employed to induce curling and twisting motion, introducing extra material and weight. Gravity, in tandem with these factors, contributes to the observed twisting effect, enhancing visual interest.
To comprehensively understand the twisting effect resulting from inflation and shaping, three distinct sets of knit designs are examined (on the left). All experiments employ a flexible silicone tube with specific dimensions, varying air pressures, inflation, and deflation times. In the initial prototype (top left), a ‘fin-like’ knit is introduced to the tubular knit without shaping, revealing the interplay between stitch count, width, and inflation. However, the weight of the fin falls short of the desired visual effect. In the subsequent prototype (middle left), shaping techniques are applied to ensure consistent dimensions and augment the knit’s weight. While visually appealing, this affects the twisting motion observed in the first test. Finally, the third prototype (bottom left) combines principles from previous steps, including extra material and shaping, achieving the desired curling and twisting behavior, demonstrating significant improvement. This combined approach effectively produces the desired visual and motion effects. These studies helped determine the technical aspects of the knits that led to achieving the project objectives.
Pneumatic valves can be broadly classified into two main types: on/off valves and proportional valves. Proportional valves provide the highest level of control as they convert an electrical input signal and input air pressure into a controlled pressure at the output, ensuring it remains within the specified flow limit. Incorporating sensing capabilities and utilizing external position feedback allows for greater control over the inflation and deflation of the silicone tubes within the knitted structures. In the context of characterizing the knit actuators discussed in this paper, a proportional system was designed and constructed (bottom image) to specifically fulfill the research objectives and effectively manage the pressure in accordance with a carefully calibrated input signal programmed into the sensory system integrated into the knit.
This setup enables a fast cause-and-effect event where users trigger the signals and open the valves to allow for inflation and deflation (refer to Figure 3). A touch sensor, programmed as a trigger, initiates a predetermined amount of pressure for a specified period of time. This approach differs from a one-time or linear interval trigger system. By utilizing pressure-based triggers, the research aims to effectively capture the nonlinear aspects of the inflation tests, allowing for more accurate data acquisition and analysis.
Programming the Sensors and the Pneumatic System
Force sensors make up the sensory bulbs. With the help of the Firefly plug-in, Grasshopper users can monitor the Arduino board’s readings when a force is sensed by a sensor. The way the Grasshopper script operates is that it uses a Boolean toggle to send a signal to the digital input ports on the second Arduino, which controls the pneumatic system when the force reading exceeds the preset value (in this example, 100). The Boolean value for that particular digital input on the second Arduino is set to ‘True’ depending on which sensory bulb is engaged. The ‘Fade in’ and ‘Fade out’ buttons on the Firefly plug-in allow us to adjust the pneumatic breathing effect after the digital input is set to ‘True.’
Dancing with Living Fabric
The research project employs precise knitted constraints, shaping techniques, and alternating yarn types to achieve the desired material behavior and actuation. Knitted constraints offer advantages over traditional soft actuators, enabling variations in shape, material, and structural behavior within a single unit. Weight considerations are addressed through the use of thin-walled silicone tubing at specific pressures. The research also delves into the smallest scales of material construction, including fibers, yarns, stitch structures, and manufacturing and production methodologies such as sewing and yarn dyeing.
The proximity and arrangement of the actuators can influence the geometry and behavior of the material between them, allowing for versatile actuation. The pneumatic pressure system is carefully controlled using pressure and touch sensors to achieve specific motions such as breathing, bending, unbending, twisting, and expanding, enabling various levels of social engagement and exploration. Considering different design approaches, such as complex geometries and scalability, becomes crucial when envisioning this system as a potential architectural solution.