Publications | Heather Kim

2024

ACM IMWUT
MediKnit: Soft Medical Making for Personalized and Clinician-Designed Wearable Devices for Hand Edema

Heather Jin Hee Kim, Narjes Pourjafarian, Arhan Choudhury, and 2 more authors

In Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies, Melbourne, Australia, 2024

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Current rapid prototyping in medical domains relies on rigid 3D-printed materials, lacking flexibility, customization, and clinician-led input. This paper introduces MediKnit, a novel approach for the fabrication of soft medical devices, addressing critical limitations in existing design processes for medical devices. MediKnit provides a design tool empowering clinicians to personalize fabric-based devices for hand edema. This tool allows clinicians to adapt the design to individual patients’ demands, thereby enhancing the overall effectiveness of therapy. The MediKnit device created by this tool consists of a machine-knit glove with active compression, which is programmable through a custom PCB. This device facilitates the mobilization of edema. To illustrate the practical implementation of our approach, this paper presents case studies involving six patients experiencing hand edema. The results demonstrate the adaptability and feasibility of our process for developing soft medical devices, highlighting its potential to broaden accessibility, facilitate personalized solutions, and empower clinicians as active medical makers.
@inproceedings{mediknit, author = {Kim, Heather Jin Hee and Pourjafarian, Narjes and Choudhury, Arhan and Stilling, Joan and Kao, Cindy Hsin-Liu}, title = {MediKnit: Soft Medical Making for Personalized and Clinician-Designed Wearable Devices for Hand Edema}, year = {2024}, isbn = {}, publisher = {Association for Computing Machinery}, address = {New York, NY, USA}, url = {https://dl.acm.org/doi/10.1145/3678504}, doi = {10.1145/3678504}, booktitle = {Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies}, articleno = {110}, numpages = {30}, keywords = {Medical making, Design tool, Textile-based device, Compression device, Hand edema, Robotic textiles, Fabrication, Workflows, Case study, User study}, location = {Melbourne, Australia}, series = {IMUWT '24}, }
DISSERTATION
Leveraging Fabric Substructure Variations of Actuator-Integrated Robotic Textiles for Wearable Applications

Heather Jin Hee Kim

In Press, 2024

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Wearable devices have evolved significantly, progressing from simple touch sensors to advanced hardware like exoskeletons, hearing aids, and space suits. These devices augment how individuals interact with their surroundings and enhance physical capabilities. Despite their effectiveness, many rigid wearable devices, characterized by gears and motors, struggle to adapt to the human body and target specific areas of the body. The emerging field of robotic textiles focuses on developing thin fabric substrates infused with actuation, variable stiffness, and sensing capabilities. The field distinguishes itself from conventional wearable technologies and soft robotics by harnessing components in fiber forms and leveraging textile manufacturing processes. The bulk characteristics of these textiles are dependent upon the primary fabric structures, whether knitted or woven. Digitally knitted substrates, in particular, offer a highly dense programmable area. Their doubly periodic structure, with each stitch configurable for different elasticities, therefore offers superior programmability and enables diverse 3D structures. This thesis harnesses the programmability of digital knitting to develop wearable robotic textiles tailored for specific tasks. Setting itself apart from the conventional robotic textile approach, these works emphasize body-conforming geometries and the seamless integration of functional components. Incorporating materials such as actuators, variable stiffness fibers, and sensors, these substrates are engineered to execute precise mechanical movements and detect tailored deformations necessary for specific wearable tasks. What sets robotic textiles apart is the meticulous control over each stitch’s properties, augmented by the strategic use of functional filaments. This approach situates itself in contrast to traditional wearables, which often rely on rigid components ill-suited for accommodating diverse body shapes and movements. This thesis further explores the realm of personalized robotic textiles, presenting a case study that highlights their potential as custom wearable devices fabricated through a design tool, bypassing a learning curve required for digital knitting. This case study demonstrates how robotic textiles can provide users with personalized mechanotherapy. By developing a design tool that eliminates the need for extensive knowledge of digital knitting and involving multiple stakeholders, this research aims to empower designers, regardless of their background in knitting or engineering, to create personalized robotic textiles that seamlessly integrate into everyday life.
@inproceedings{thesis, author = {Kim, Heather Jin Hee}, title = {Leveraging Fabric Substructure Variations of Actuator-Integrated Robotic Textiles for Wearable Applications}, booktitle = {Press}, year = {2024}, }

2023

ACM CHI
KnitDema: Robotic Textile as Personalized Edema Mobilization Device

Jin Hee (Heather) Kim, Joan Stilling, Michael O’Dell, and 1 more author

In Proceedings of the 2023 CHI Conference on Human Factors in Computing Systems, Hamburg, Germany, 2023

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Hand edema, defined as swelling of the hands caused by excess fluid accumulation, is a pervasive condition affecting a person’s range of motion and functional ability. However, treatment strategies remain limited to time-consuming manual massage by trained therapists, deterring a widely accessible approach. We present KnitDema, a robotic textile device that allows sequential compression from distal to proximal finger phalanges for mobilizing edema. We machine-knit the device and integrate small-scale actuators to envelop granular body locations such as fingers, catering to the shape of the hand. In addition, the device affords customizable compression levels through the enclosed fiber-like actuators. We characterize compression parameters and simulate the shunting of edema through a mock fluid system. Finally, we conduct a case study to evaluate the feasibility of the device, in which five hand edema patients assess KnitDema. Our study provides insights into the opportunities for robotic textiles to support personalized rehabilitation.
@inproceedings{knitdema, author = {Kim, Jin Hee (Heather) and Stilling, Joan and O'Dell, Michael and Kao, Cindy Hsin-Liu}, title = {KnitDema: Robotic Textile as Personalized Edema Mobilization Device}, year = {2023}, isbn = {9781450394215}, publisher = {Association for Computing Machinery}, address = {New York, NY, USA}, url = {https://doi-org/10.1145/3544548.3581343}, doi = {10.1145/3544548.3581343}, booktitle = {Proceedings of the 2023 CHI Conference on Human Factors in Computing Systems}, articleno = {472}, numpages = {19}, keywords = {Compression Device, E-Textile, Hand Edema, Haptics, Rehabilitation Device, Robotic Textile, Wearable Computing}, location = {Hamburg, Germany}, series = {CHI '23}, }
IEEE IROS
Robotic Barrier Construction through Weaved, Inflatable Tubes

Heather Jin Hee Kim^*, Haron Abdel-Raziq^*, Xinyu Liu, and 4 more authors

In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023

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In this article, we present a mechanism and related path planning algorithm to construct light-duty barriers out of extruded, inflated tubes weaved around existing environmental features. Our extruded tubes are based on everted vine-robots and in this context, we present a new method to steer their growth. We characterize the mechanism in terms of accuracy resilience, and, towards their use as barriers, the ability of the tubes to withstand distributed loads. We further explore an algorithm which, given a feature map and the size and direction of the external load, can determine where and how to extrude the barrier. Finally, we showcase the potential of this method in an autonomously extruded two-layer wall weaved around three pipes. While preliminary, our work indicates that this method has potential for barrier construction in cluttered environments, e.g. shelters against wind or snow. Future work may show how to achieve tighter weaves, how to leverage weave friction for improved strength, how to assess barrier performance for feedback control, and how to operate the extrusion mechanism off of a mobile robot.
@inproceedings{wewavebot, author = {Kim, Heather Jin Hee and Abdel-Raziq, Haron and Liu, Xinyu and Siskovic, Alexandra Young and Patil, Shreyas and Petersen, Kirstin H. and Kao, Hsin-Liu}, booktitle = {2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, title = {Robotic Barrier Construction through Weaved, Inflatable Tubes}, year = {2023}, volume = {}, number = {}, pages = {8318-8323}, url = {https://ieeexplore.ieee.org/document/10342190}, keywords = {Snow;Friction;Path planning;Electron tubes;Feedback control;Mobile robots;Intelligent robots}, doi = {10.1109/IROS55552.2023.10342190}, }

2022

ACM CHI
KnitSkin: Machine-Knitted Scaled Skin for Locomotion

Jin Hee (Heather) Kim, Shreyas Dilip Patil, Sarina Matson, and 2 more authors

In Proceedings of the 2022 CHI Conference on Human Factors in Computing Systems, New Orleans, LA, USA, 2022

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We present KnitSkin, a bio-inspired sleeve that can traverse diverse cylindrical terrains, ranging from a user’s forearm at a wearable scale, to pipes and tree branches at an environmental scale. Fabricated with a machine knitted substrate, the sleeve configures a stepped array of knitted scales that exhibit anisotropic friction. Coupled with the extension of actuators enclosed in the sleeve, the scales enable effective directional locomotion on cylindrical surfaces with varying slopes, textures, and curvatures. KnitSkin’s substrates are characterized by scales whose geometries and materials can be fine-tuned and channels that can accommodate diverse actuators. We introduce the design elements of KnitSkin in which we characterize a series of substrate parameters and their resulting anisotropic behaviors. In evaluating the locomotion, we examine the variables associated with the surface and actuator characteristics. KnitSkin obtains diverse applications across different scales, including wearable interfaces, industrial pipe-monitoring, to agricultural robots.
@inproceedings{knitskin, author = {Kim, Jin Hee (Heather) and Patil, Shreyas Dilip and Matson, Sarina and Conroy, Melissa and Kao, Cindy Hsin-Liu}, title = {KnitSkin: Machine-Knitted Scaled Skin for Locomotion}, year = {2022}, isbn = {9781450391573}, publisher = {Association for Computing Machinery}, address = {New York, NY, USA}, url = {https://doi.org/10.1145/3491102.3502142}, doi = {10.1145/3491102.3502142}, booktitle = {Proceedings of the 2022 CHI Conference on Human Factors in Computing Systems}, articleno = {391}, numpages = {15}, keywords = {Machine Knitting, Mobile Robots, Smart Textiles, Wearable Robots}, location = {New Orleans, LA, USA}, series = {CHI '22}, }

2021

ACM DIS
KnitDermis: Fabricating Tactile On-Body Interfaces Through Machine Knitting

Jin Hee (Heather) Kim, Kunpeng Huang, Simone White, and 2 more authors

In Proceedings of the 2021 ACM Designing Interactive Systems Conference, Virtual Event, USA, 2021

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We present KnitDermis, on-body interfaces that deliver expressive non-vibrating mechanotactile feedback on the wearer’s body. Fabricated through machine knitting, they embed shape-memory alloy micro-springs in knitted channels, which deliver tactile sensations on the skin when activated. KnitDermis interfaces take advantage of machine knitting’s shaping properties which allow it to generate slim, stretchable, and versatile forms that can conform to underexplored body locations, such as protruded joints and convex body locations. We introduce a fabrication approach and a series of case studies to design a wide range of form factors, textures, and tactile patterns, including compression, pinching, brushing, and twisting. We conduct a user study to elicit KnitDermis’ effectiveness and wearability on diverse body locations and engage users to unpack envisioned use cases and perceptions towards the interfaces. We draw insights from our extensive research-through-design investigations on the potential of knitting as a soft approach for close-body and expressive tactile interfaces.
@inproceedings{knitdermis, author = {Kim, Jin Hee (Heather) and Huang, Kunpeng and White, Simone and Conroy, Melissa and Kao, Cindy Hsin-Liu}, title = {KnitDermis: Fabricating Tactile On-Body Interfaces Through Machine Knitting}, year = {2021}, isbn = {9781450384766}, publisher = {Association for Computing Machinery}, address = {New York, NY, USA}, url = {https://doi.org/10.1145/3461778.3462007}, doi = {10.1145/3461778.3462007}, booktitle = {Proceedings of the 2021 ACM Designing Interactive Systems Conference}, pages = {1183–1200}, numpages = {18}, keywords = {Tactile Feedback, Shape Memory Alloy, On-Body Interface, Machine Knitting, Haptics}, location = {Virtual Event, USA}, series = {DIS '21}, }

2015

IEEE HRI

Intelligent Product Design

Han Nwi Lee, Yeseul Namkoung, Jinhee Kim, and 10 more authors

In Proceedings of the Tenth Annual ACM/IEEE International Conference on Human-Robot Interaction Extended Abstracts, Portland, Oregon, USA, 2015

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Robot’s appearance types could be classified into human-oriented robot and product-oriented robot. Human-oriented robot resembles human’s appearance and behavior whereas product-oriented robot is an intelligent product that is laden with robotic technologies based on the existing product [1]. In Kwak et al.’s study [1], customers categorized a human-oriented robot as a robot and a product-oriented robot as one of the existing product categories, and a product-oriented robot was more effective than a human-oriented robot for consumers’ evaluation and purchase intention toward robots. On the basis of this, we developed several intelligent products including intelligent slippers, intelligent Christmas tree blocks, an intelligent piggy bank, an intelligent clothespin, an intelligent grass protection mat, and an intelligent frame (see Figure 1).