FibeRobo: Fabricating 4D Fiber Interfaces by Continuous Drawing of Temperature Tunable Liquid Crystal Elastomers

We present FibeRobo, a thermally-actuated liquid crystal elastomer (LCE) fiber that can be embedded or structured into textiles and enable silent and responsive interactions with shape-changing, fiber-based interfaces. Three definitive properties distinguish FibeRobo from other actuating threads explored in HCI. First, they exhibit rapid thermal self-reversing actuation with large displacements (∼40%) without twisting. Second, we present a reproducible UV fiber drawing setup that produces hundreds of meters of fiber with a sub-millimeter diameter. Third, FibeRobo is fully compatible with existing textile manufacturing machinery such as weaving looms, embroidery, and industrial knitting machines. This paper contributes to developing temperature-responsive LCE fibers, a facile and scalable fabrication pipeline with optional heating element integration for digital control, mechanical characterization, and the establishment of higher hierarchical textile structures and design space. Finally, we introduce a set of demonstrations that illustrate the design space FibeRobo enables.