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The proposed robot is effective and appropriate for SILS, overcoming inadequate triangulation and improving workspace and traction force capability.

Tangible user interfaces are portals to digital information. In the future, securing access to such material will be an important concern. This paper describes the design, implementation and evaluation of a PIN entry system based on audio or haptic cues that is suitable for integration into such physical systems. The current implementation links movements on a mobile phone touch screen with the display of non-visual cues; selection of a sequence of these cues composes a password. Studies reveal the validity of this approach in terms of task times and error rates that improve over prior art. In sum, this paper demonstrates the potential of non-visual PINs as a mechanism for securing access to a range of systems, ultimately incorporating mobile, ubiquitous or tangible interfaces.

Authentication in public spaces poses significant security risks. Most significantly, passwords can be stolen, potentially leading to fraud. A common method to steal a PIN is through an observation attack, either using a camera or through direct observation (e.g. shoulder-surfing). This paper addresses this problem by presenting the design and implementation of a novel input keypad which uses tactile cues as means to compose a password. In this system, passwords are encoded as a sequence of randomized vibration patterns, making it visually impossible for an observer to detect which items are selected. An evaluation of this system shows it outperforms previous interfaces which have used tactile feedback to obfuscate passwords.