Accurate and continuous monitoring of joint rotational motion is crucial for a wide range of applications such as physical rehabilitation [6, 85] and motion training [22, 54, 68]. Existing motion capture systems, however, either need instrumentation of the environment, or fail to track arbitrary joint motion, or impose wearing discomfort by requiring rigid electrical sensors right around the joint area. This work studies the use of everyday fabrics as a flexible and soft sensing medium to monitor joint angular motion accurately and reliably. Specifically we focus on the primary use of conductive stretchable fabrics to sense the skin deformation during joint motion and infer the joint rotational angle. We tackle challenges of fabric sensing originated by the inherent properties of elastic materials by leveraging two types of sensing fabric and characterizing their properties based on models in material science. We apply models from bio-mechanics to infer joint angles and propose the use of dual strain sensing to enhance sensing robustness against user diversity and fabric position offsets. We fabricate prototypes using off-the-shelf fabrics and micro-controller. Experiments with ten participants show 9.69 • median angular error in tracking joint angle and its sensing robustness across various users and activities. CCS Concepts: • Human-centered computing → Ubiquitous and mobile computing systems and tools; Ambient intelligence.

This paper presents a holistic system to scale up the teaching and learning of vocabulary words of American Sign Language (ASL). The system leverages the most recent mixed-reality technology to allow the user to perceive her own hands in an immersive learning environment with first- and third-person views for motion demonstration and practice. Precise motion sensing is used to record and evaluate motion, providing real-time feedback tailored to the specific learner. As part of this evaluation, learner motions are matched to features derived from the Hamburg Notation System (HNS) developed by sign-language linguists. We develop a prototype to evaluate the efficacy of mixed-reality-based interactive motion teaching. Results with 60 participants show a statistically significant improvement in learning ASL signs when using our system, in comparison to traditional desktop-based, non-interactive learning. We expect this approach to ultimately allow teaching and guided practice of thousands of signs.

Locating underwater robots is fundamental for enabling important underwater applications. The current mainstream method requires a physical infrastructure with relays on the water surface, which is largely ad-hoc, introduces a significant logistical overhead, and entails limited scalability. Our work, Sunflower, presents the first demonstration of wireless, 3D localization across the air-water interface -eliminating the need for additional infrastructure on the water surface. Specifically, we propose a laser-based sensing system to enable aerial drones to directly locate underwater robots. The Sunflower system consists of a queen and a worker component on a drone and each tracked underwater robot, respectively. To achieve robust sensing, key system elements include (1) a pinholebased sensing mechanism to address the sensing skew at air-water boundary and determine the incident angle on the worker, (2) a novel optical-fiber sensing ring to sense weak retroreflected light, (3) a laser-optimized backscatter communication design that exploits laser polarization to maximize retroreflected energy, and (4) the necessary models and algorithms for underwater sensing. Realworld experiments demonstrate that our Sunflower system achieves average localization error of 9.7 cm with ranges up to 3.8 m and is robust against ambient light interference and wave conditions. CCS CONCEPTS• Hardware → Sensor devices and platforms; Sensor applications and deployments.

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