1 HoverBall pingpongplus [1] Mueller [2] HoverBall UAV Unmanned Aerial Vehicle HoverBall 1 HoverBall HoverBall TV [12] TV Mueller Jogginng over

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1 情報処理学会インタラクション 2015 IPSJ Interaction INT /3/6 HoverBall: 1,a) 1, 2,b) 3,c) 1, 4,d) HoverBall HoverBall UAV Unmanned Aerial Vehicle HoverBall HoverBall: Augmented Sports with a Flying Ball Kei Nitta 1,a) Keita Higuchi 1, 2,b) Yuichi Tadokoro 3,c) Jun Rekimoto 1, 4,d) Abstract: HoverBall is a ball-shaped device which realizes tuning sports abilities in order to overcome skill gaps between players. Sports have been changed by innovations of technologies. Professional players are improving their skills using up-dated tools, clothing, and training methods. Its innovations can also help enjoying sports as leisure for communication or health promotion. Novel sports with augmented fields, tools or players are called Augmented Sports. In this paper, we use information and robotic technologies to tune the sports abilities of expert and non-expert players to fill gaps in their skills. We develop a self-actuated ball which flies via a ball-shaped quadcopter. The ball can change speed and trajectory depending on a player s skill. This paper explains a design concept and implementation of HoverBall, and discusses the user experience and future research directions Presently with The University of Tokyo 2 Presently with Japan Society for the Promotion of Science 3 Presently with Tokyo Institute of Technology 4 Presently with Sony Computer Science Laboratories a) keinitta74@gmail.com b) khiguchi@acm.org c) tadokoro@sc.ctrl.titech.ac.jp d) rekimoto@acm.org Nike Nike+[11] Information Processing Society of Japan 64

1 HoverBall pingpongplus [1] Mueller [2] HoverBall UAV Unmanned Aerial Vehicle HoverBall 1 HoverBall HoverBall 2.

2 1 HoverBall pingpongplus [1] Mueller [2] HoverBall UAV Unmanned Aerial Vehicle HoverBall 1 HoverBall HoverBall TV [12] TV Mueller Jogginng over distance [14]. Baudisch Imaginary Reality gaming,, [3] TV 2.2 Shootball[4] Shootball 4 Bouncing Star[5] LED LED Information Processing Society of Japan 65

3. HoverBall Csikszentmihalyi [13] Hoverball 3.

Imaginary Dynamics [7] TAMA HoverBall UAV 3.2 3.

3 3. HoverBall Csikszentmihalyi [13] Hoverball 3.1 Imaginary Dynamics SF J.K Rowling Harry Potter Imaginary Dynamics Imaginary Dynamics Anti-Gravity Boomerang Gliding 2 TAMA TAMA 2 Imaginary Dynamics [7] TAMA HoverBall UAV Imaginary Dynamics Shepherd Pass (a) (b) (c) (d) Information Processing Society of Japan 66

4 HoverBall Shepherd Pass 4 ( 4(A)) 4(B) 4.1 5m 5m 8 Optitrack S250e HoverBall 120fps 1mm ID ID 4 Shepherd Pass 4. HoverBall HoverBall 5 UAV UAV The Flying Machine Arena project [8] GameManager 5 HoverBall 4.2 Briod UAV [9] UAV UAV 3 Briod ESC Electronic Speed Control 3D ABS 125g STM32F103CB OpenPilot CC3D [10] 57mm 2mm D 280mm 174g ErSky 2.4GHz D6FR-II DFT) PWM(Pulse Width Modulation) Arduino 2015 Information Processing Society of Japan 67

Integral-Derivative) HoverBall ID PID HoverBall

5 HoverBall 5. 6 HoverBall (1)HoverBall (2) HoverBall (3)3D (4) (5) (6)HoverBall 4.3 UAV HoverBall PID(Proportional- Integral-Derivative) HoverBall ID PID HoverBall PID HoverBall Shepherd Pass (A) HoverBall 7 A C B 7 (A) (B) HoverBall 8 (B) E 8 (B) 2015 Information Processing Society of Japan 68

6 i (ii) 2 (i) ii 5 HoverBall HoverBall 9 HoverBall HoverBall 9 HoverBall HoverBall 9 6. HoverBall Shepherd Pass 6.1 HoverBall [8] 1 3 5mm 5mm 6.2 HoverBall Mueller 10 4 [6] The Responding Body The Moving Body The Sensing Body The Relating Body HoverBall 3.1 Imaginary Dynamics The Affecting Body The Affecting Body The Moving Body The Sensing Body 2015 Information Processing Society of Japan 69

10 The Affecting Body 7. HoverBall HoverBall Shepherd Pass HoverBall Systems (1999), 394 401. [2] Mueller, F., Gibbs M. Evaluating a distributed physical leisure game for three players.

7 10 The Affecting Body 7. HoverBall HoverBall Shepherd Pass HoverBall Systems (1999), [2] Mueller, F., Gibbs M. Evaluating a distributed physical leisure game for three players. Proceedings of the 19th Australasian conference on Computer-Human Interaction: Entertaining User Interfaces (2007), [3] Baudisch, P., Henning, P., Reinicke, S., Wittmers, E., Lhne, P., Knaust, M., Khler, S., Schmidt, P. and Holz,. Imaginary reality gaming: ball games without a ball. Proceeding UIST 13 Proceedings of the 26th annual ACM symposium on User interface software and technology(2013), [4] Sugano, Y., Mochizuki, Y., Usui, T., Okude, N. Shootball: the ball sport using dynamic goals. Proceedings of the international conference on Advances in computer entertainment technology (2007), [5] Izuta, O., Sato, T., Kodama, S., Koike, H. Bouncing Star project: design and development of augmented sports application using a ball including electronic and wireless modules. Proceedings of the 1st Augmented Human International Conference (2010), Article No.22. [6] Mueller, F., Edge, D., Vetere, F., Gibbs, M., Agamanolis, S., Bongers, B., Sheridan, J. Designing Sports: A Framework for Exertion Games. CHI 11 Proceedings of the SIGCHI Conference on Human Factors in Computing Systems(2011), [7] Tomoya Ohta, Shumpei Yamakawa, Takashi Ichikawa, and Takuya Nojima TAMA: development of trajectory changeable ball for future entertainment. In Proceedings of the 5th Augmented Human International Conference (2014), Article 50:1 8. [8] Lupashin, S., Hehn, M., Mueller, M. W., Schoellig, A. P., Sherback, M., and D Andrea, R. A platform for aerial robotics research and demonstration: The flying machine arena. Mechatronics Volume 24(2014), [9] Briod, A., Kornatowski, P., Zufferey, J.-C., and Floreano, D. A collision-resilient flying robot. Journal of Field Robotics 31, 4 (2014), [10] OpenPilot (Accessed 10/1/2014) [11] Nike+ (Accessed 10/1/2014) [12],,,,,... EC, (2013), 1-6. [13] M.Csikszentmihalyi( ), ( ).,,2000. [14] Mueller, F., O Brien, S., Thorogood, A. Jogging over a Distance: Supporting a Jogging Together Experience Although Being Apart. CHI EA 07(2007), [1] Ishii, H., Wisneski, C., Orbanes, J., Chun, B., Paradiso, J. PingPongPlus: design of an athletic-tangible interface for computer-supported cooperative play. Proceedings of the SIGCHI conference on Human Factors in Computing 2015 Information Processing Society of Japan 70

(EC2014) YOUPLAY 1,a) 2,3 1 1,4,b) 1 YOUPLAY YOUPLAY YOUPLAY YOUPLAY Vol.0 (03/20 24, 2013) YOUPLAY Vol.1 (11/16 24, 2013) 2 HEP HALL

(EC2014) YOUPLAY 1,a) 2,3 1 1,4,b) 1 YOUPLAY YOUPLAY YOUPLAY YOUPLAY Vol.0 (03/20 24, 2013) YOUPLAY Vol.1 (11/16 24, 2013) 2 HEP HALL (EC2014) 2014 9 YOUPLAY 1,a) 2,3 1 1,4,b) 1 YOUPLAY YOUPLAY YOUPLAY YOUPLAY Vol.0 (03/20 24, 2013) YOUPLAY Vol.1 (11/16 24, 2013) 2 HEP HALL 40 1. 1 2 3 sunday 4 a) isoyama@stu.kobe-u.ac.jp b) tsutomu@eedept.kobe-u.ac.jp