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Digital knitting machines provide a fast and efficient way to create garments, but commercial knitting tools are limited to predefined templates. While many knitting design tools help users create patterns from scratch, modifying existing patterns remains challenging. This paper introduces KnitA11y, a digital machine knitting pipeline that enables users to import hand-knitting patterns, add accessibility features, and fabricate them using machine knitting. We support modifications such as holes, pockets, and straps/handles, based on common accessible functional modifications identified in a survey of Ravelry.com. KnitA11y offers an interactive design interface that allows users to visualize patterns and customize the position and shape of modifications. We demonstrate KnitA11y’s capabilities through diverse examples, including a sensory-friendly scarf with a pocket, a hat with a hole for assistive devices, a sock with a pull handle, and a mitten with a pocket for heating pads to alleviate Raynaud’s symptoms. 

Jamming actuators have been proposed for many portable or wearable applications, yet the performance of these actuators will vary widely with fluidic leaks that degrade vacuum pressure and therefore maximum stiffness and stiffness over time. We investigate the power consumption and pressure in a series of leaky jamming actuators using four approaches: continuous jamming, jamming once, and re-jamming at regular intervals or if the pressure falls outside a specified range. We demonstrate the pressures and power consumptions of these approaches in a soft gripper and an active robotic elbow brace. We found that re-jamming when pressure fell below a target range reduced power consumption by more than a factor of 7.5 over continuous jamming while maintaining performance. These findings, and other efficient re-jamming approaches, will be crucial to jamming robots that can operate after damage and untethered for multiple hours. 

Slide deck accessibility is often studied for people who are blind or visually impaired, but rarely for other people with access needs. We first conducted focus groups with 17 people with slide deck access needs and found that their access needs differed greatly and often conflicted. Moreover, some people’s access needs changed throughout the day (e.g., needing lower contrast colors at night). Therefore, we conducted a design probe with 14 of the existing participants to understand the experience of using a plug-in that lets audience members at a presentation modify a local copy of the slides to meet their accessibility needs. We then interviewed four slide deck authors and presenters to offer a preview of the perspectives that other stakeholders of this tool might have. Finally, we created a functional prototype as a Google Slides plug-in with a subset of the features requested by the participants. 

We build upon the stripes-based knit planning framework of [Mitra et al. 2023], and view the resultant stripe pattern through the lens of singular foliations. This perspective views the stripes, and thus the candidate course rows or wale columns, as integral curves of a vector field specified by the spinning form of [Knöppel et al. 2015]. We show how to tightly control the topological structure of this vector field with linear level set constraints, preventing helicing of any integral curve. Practically speaking, this obviates the stripe placement constraints of [Mitra et al. 2023] and allows for shifting and variation of the stripe frequency without introducing additional helices. En route, we make the first explicit algebraic characterization of spinning form level set structure within singular triangles, and replace the standard interpolant with an “effective” one that improves the robustness of knit graph generation. We also extend the model of [Mitra et al. 2023] to surfaces with genus, via a Morse-based cylindrical decomposition, and implement automatic singularity pairing on the resulting components.