In this paper, we present ThreadTessel, a tangible toolkit consisting of modular triangular pieces, enabling users to create thread-pulling-actuated shape-changing structures. To motivate and guide the design of ThreadTessel, we first constructed a taxonomy of movable origami tessellation. The taxonomy includes design dimensions such as assembly patterns, spatial motions, and the control mechanism, which can potentially support design-space exploration. We then evaluated the performance of the thread-pulling mechanism, providing users with an understanding of thread actuation principles and motion curve patterns. Furthermore, we evaluated ThreadTessel through a series of design workshops, involving 20 participants in total. The workshop results showed that participants could quickly learn to use the toolkit and found the process engaging. Participants also found that ThreadTessel supported their creativity in various design contexts and facilitated group design collaboration. Our workshops resulted in more than ten tessellation-based shape-changing prototypes, further showcasing the usability of ThreadTessel.

Authors: Lina Zhang, Yibin Huai, Zhian Hu, Jiayi Wu, Alvaro Cassinelli, and Kening Zhu (*).