research-article

Extruder-Turtle: A Library for 3D Printing Delicate, Textured, and Flexible Objects

Authors:

Franklin Pezutti-Dyer,

Leah BuechleyAuthors Info & Claims

TEI '22: Proceedings of the Sixteenth International Conference on Tangible, Embedded, and Embodied Interaction

Article No.: 6, Pages 1 - 9

https://doi.org/10.1145/3490149.3501312

Published: 13 February 2022 Publication History

Abstract

This paper introduces, an open-source Turtle Geometry library for 3D printing, which generates G-CODE based on the path traveled by a LOGO-inspired Turtle. We describe the functionality of our library and demonstrate how it provides an intuitive and accessible way to create objects with a range of interesting properties, using Fused Deposition Modeling (FDM) 3D printers. We also present a collection of examples–including replications of previous research as well as original investigations–to demonstrate the power and flexibility of our library and this general approach. Our examples include 3D printed textiles, textured surfaces, and delicate string-art sculptures, along with traditional Turtle Geometry forms.

References

[1]

Harold Abelson and Andrea diSessa. 1980. Turtle Geometry: The Computer as a Medium for Exploring Mathematics. The MIT Press.

[2]

Atheer Awad, Aliya Yao, Sarah J. Trenfield, Alvaro Goyanes, Simon Gaisford, and Abdul W. Basit. 2020. 3D Printed Tablets (Printlets) with Braille and Moon Patterns for Visually Impaired Patients. Pharmaceutics 12, 2 (Feb. 2020), 172. https://doi.org/10.3390/pharmaceutics12020172

[3]

Donald Degraen, André Zenner, and Antonio Krüger. 2019. Enhancing Texture Perception in Virtual Reality Using 3D-Printed Hair Structures. In Proceedings of the 2019 CHI Conference on Human Factors in Computing Systems. ACM, Glasgow Scotland Uk, 1–12. https://doi.org/10.1145/3290605.3300479

Digital Library

[4]

Franklin Dyer. 2021. Extruder Turtle Website. https://handandmachine.org/projects/extruder_turtle/index.html

[5]

Michael Eisenberg. 2005. Technology and the Future of Educational Crafts. Educational Technology 45, 3 (2005), 3–11. https://www.jstor.org/stable/44429206 Publisher: Educational Technology Publications, Inc.

[6]

Chang He, Min Zhang, and Zhongxiang Fang. 2020. 3D printing of food: pretreatment and post-treatment of materials. Critical Reviews in Food Science and Nutrition 60, 14 (Aug. 2020), 2379–2392. https://doi.org/10.1080/10408398.2019.1641065

[7]

Yasusi Kanada. 2015. ”3D Turtle Graphics” by using a 3D Printer. Journal of Engineering Research and Applications 5 (April 2015), 70–77.

[8]

Yasusi Kanada. 2016. Method for Procedural 3D Printing Using a Python Library. Journal of Information Processing 24, 6 (2016), 908–916. https://doi.org/10.2197/ipsjjip.24.908

[9]

Yasusi Kanada. 2018. Complex Moiré Patterns Generated by Helical 3D Printing with Three Waves. (2018), 2.

[10]

Gierad Laput, Xiang ’Anthony’ Chen, and Chris Harrison. 2015. 3D Printed Hair: Fused Deposition Modeling of Soft Strands, Fibers, and Bristles. In Proceedings of the 28th Annual ACM Symposium on User Interface Software & Technology. ACM, Charlotte NC USA, 593–597. https://doi.org/10.1145/2807442.2807484

Digital Library

[11]

Alain Le-Bail, Bianca Chieregato Maniglia, and Patricia Le-Bail. 2020. Recent advances and future perspective in additive manufacturing of foods based on 3D printing. Current Opinion in Food Science 35 (Oct. 2020), 54–64. https://doi.org/10.1016/j.cofs.2020.01.009

[12]

LIA. [n.d.]. Filament Sculptures – LIA. https://www.liaworks.com/theprojects/filament-sculptures/

[13]

Jon Millington. 1999. Curve Stitching: Art of Sewing Beautiful Mathematical Patterns (2007th editioned.). Tarquin Group, Diss. String art, string-art.

[14]

Stefanie Mueller, Sangha Im, Serafima Gurevich, Alexander Teibrich, Lisa Pfisterer, François Guimbretière, and Patrick Baudisch. 2014. WirePrint: 3D printed previews for fast prototyping. In Proceedings of the 27th annual ACM symposium on User interface software and technology. ACM, Honolulu Hawaii USA, 273–280. https://doi.org/10.1145/2642918.2647359

Digital Library

[15]

Jifei Ou, Gershon Dublon, Chin-Yi Cheng, Felix Heibeck, Karl Willis, and Hiroshi Ishii. 2016. Cilllia: 3D Printed Micro-Pillar Structures for Surface Texture, Actuation and Sensing. In Proceedings of the 2016 CHI Conference on Human Factors in Computing Systems. ACM, San Jose California USA, 5753–5764. https://doi.org/10.1145/2858036.2858257

Digital Library

[16]

Seymour Papert. 1980. Mindstorms: children, computers, and powerful ideas. Basic Books, New York, NY.

Digital Library

[17]

Przemyslaw Prusinkiewicz, Aristid Lindenmayer, J. S. Hanan, F. D. Fracchia, D. R. Fowler, M. J. M. de Boer, and L. Mercer. 1990. The Algorithmic Beauty of Plants(first edition ed.). Springer, New York Heidelberg.

[18]

Ronald Rael, Virginia San Fratello, Barrak Darweesh, Constantina Tsiara, and Alexander Curth. 2020. POTTERWARE. https://www.potterware.com/docs

[19]

RepRap. [n.d.]. G-code Reference Wiki. https://reprap.org/wiki/G-code

[20]

Mitchel Resnick, Brad Myers, Kumiyo Nakakoji, Ben Shneiderman, Randy Pausch, Ted Selker, and Mike Eisenberg. 2005. Design principles for tools to support creative thinking. (2005).

[21]

Manuel Riel and Ralf Romeike. 2020. Fundamental Concepts of 3D Turtle Geometry. CONSTRUCTIONISM 2020(2020), 332.

[22]

Manuel Riel and Ralf Romeike. 2021. 3D Print your Artifacts–3D Turtle Geometry as an Introduction to Programming. In 2021 IEEE Global Engineering Education Conference (EDUCON). IEEE, 1454–1461.

[23]

Rosenbaum, Eric. [n.d.]. Beetle Blocks - Visual code for 3D design. http://www.beetleblocks.com/

[24]

L. Sabantina, F. Kinzel, A. Ehrmann, and K. Finsterbusch. 2015. Combining 3D printed forms with textile structures - mechanical and geometrical properties of multi-material systems. IOP Conference Series: Materials Science and Engineering 87 (July 2015), 012005. https://doi.org/10.1088/1757-899X/87/1/012005 Publisher: IOP Publishing.

[25]

Christian Schumacher, Bernd Bickel, Jan Rys, Steve Marschner, Chiara Daraio, and Markus Gross. 2015. Microstructures to control elasticity in 3D printing. ACM Transactions on Graphics 34, 4 (July 2015), 1–13. https://doi.org/10.1145/2766926

Digital Library

[26]

Sevenson, Brittney. 2014. Incredible 3D Printed Paintbrush, Broom, & More Created with Fiber Bridging Technique. https://3dprint.com/32480/3d-print-paintbrush-bridging/

[27]

Jaeeun Shin, Jundong Cho, and Sangwon Lee. 2020. Please Touch Color: Tactile-Color Texture Design for The Visually Impaired. In Extended Abstracts of the 2020 CHI Conference on Human Factors in Computing Systems. ACM, Honolulu HI USA, 1–7. https://doi.org/10.1145/3334480.3383003

Digital Library

[28]

Cynthia J. Solomon and Seymour Papert. 1976. A case study of a young child doing turtle graphics in LOGO. In Proceedings of the June 7-10, 1976, national computer conference and exposition on - AFIPS ’76. ACM Press, New York, New York, 1049. https://doi.org/10.1145/1499799.1499945

Digital Library

[29]

Haruki Takahashi and Jeeeun Kim. 2019. 3D Printed Fabric: Techniques for Design and 3D Weaving Programmable Textiles. In Proceedings of the 32nd Annual ACM Symposium on User Interface Software and Technology(UIST ’19). Association for Computing Machinery, New York, NY, USA, 43–51. https://doi.org/10.1145/3332165.3347896

Digital Library

[30]

Haruki Takahashi and Homei Miyashita. 2017. Expressive Fused Deposition Modeling by Controlling Extruder Height and Extrusion Amount. In Proceedings of the 2017 CHI Conference on Human Factors in Computing Systems. ACM, Denver Colorado USA, 5065–5074. https://doi.org/10.1145/3025453.3025933

Digital Library

[31]

Sebastian Teo. 2018. Droid - 3d Print Slicer and Path Plotter. https://www.food4rhino.com/en/app/droid-3d-print-slicer-and-path-plotter

[32]

Tom Verhoeff. 2010. 3D turtle geometry: artwork, theory, program equivalence and symmetry. International Journal of Arts and Technology 3, 2/3(2010), 288. https://doi.org/10.1504/IJART.2010.032569

[33]

Eric W. Weisstein. [n.d.]. Rule 30. https://mathworld.wolfram.com/Rule30.html Publisher: Wolfram Research, Inc.

[34]

Ursula Wolz, Michael Auschauer, and Andrea Mayr-Stalder. 2019. Programming embroidery with turtlestitch. In ACM SIGGRAPH 2019 Studio(SIGGRAPH ’19). Association for Computing Machinery, New York, NY, USA, 1–2. https://doi.org/10.1145/3306306.3328002

Digital Library

[35]

Robert C. Yates. 1974. Curves and their properties(reprint edition ed.). National Council of Teachers of Mathematics.

Cited By

Marciniak ZMoon KBianchi A(2024)Decoupling Geometry from Surface Finish by Parameterizing Texture Directly in G-code for Fused Deposition Modeling (FDM) PrintingArchives of Design Research10.15187/adr.2024.05.37.2.737:2(7-23)Online publication date: 31-May-2024
https://doi.org/10.15187/adr.2024.05.37.2.7
Ishii AYasu K(2024)RelieFoam: Rapid Prototyping of 2.5D Texture using Laser CutterAdjunct Proceedings of the 37th Annual ACM Symposium on User Interface Software and Technology10.1145/3672539.3686741(1-3)Online publication date: 13-Oct-2024
https://dl.acm.org/doi/10.1145/3672539.3686741
Wen XLazaro Vasquez ERivera M(2024)Exploring a Software Tool for Biofibers DesignAdjunct Proceedings of the 37th Annual ACM Symposium on User Interface Software and Technology10.1145/3672539.3686317(1-3)Online publication date: 13-Oct-2024
https://dl.acm.org/doi/10.1145/3672539.3686317
Show More Cited By

Index Terms

Extruder-Turtle: A Library for 3D Printing Delicate, Textured, and Flexible Objects
1. Theory of computation

Index terms have been assigned to the content through auto-classification.

Recommendations

CeraMetal: A New Approach to Low-Cost Metal 3D Printing with Bronze Clay
CHI '24: Proceedings of the 2024 CHI Conference on Human Factors in Computing Systems

This paper introduces CeraMetal, a low-cost and robust approach to desktop metal 3D printing based on a custom "metal clay". We present three recipes for 3D printable bronze clay along with a workflow that includes print parameters and a sintering ...
ReFabricator: Integrating Everyday Objects for Digital Fabrication
CHI EA '16: Proceedings of the 2016 CHI Conference Extended Abstracts on Human Factors in Computing Systems

Since current digital fabrication relies on 3D printer very much, there are several concerns such as printing cost (i.e., both financial and temporal cost) and sometimes too homogeneous impression with plastic filament. To address and solve the problem, ...
3D printing/digital fabrication for education and the common good
C&T '17: Proceedings of the 8th International Conference on Communities and Technologies

3D printing has 1 become an area of intense interest in many disciplines ranging from industry through education, humanitarian and innovation contexts to research. At the same time, technologies, materials, usages and appropriation are in constant flux. ...

Comments

Information & Contributors

Information

Published In

cover image ACM Conferences

TEI '22: Proceedings of the Sixteenth International Conference on Tangible, Embedded, and Embodied Interaction

February 2022

758 pages

ISBN:9781450391474

DOI:10.1145/3490149

Copyright © 2022 ACM.

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

Sponsors

SIGCHI: ACM Special Interest Group on Computer-Human Interaction

Publisher

Association for Computing Machinery

New York, NY, United States

Publication History

Published: 13 February 2022

Permissions

Request permissions for this article.

Request Permissions

Check for updates

Author Tags

Qualifiers

Research-article
Research
Refereed limited

Conference

TEI '22

Sponsor:

SIGCHI

TEI '22: Sixteenth International Conference on Tangible, Embedded, and Embodied Interaction

February 13 - 16, 2022

Daejeon, Republic of Korea

Acceptance Rates

Overall Acceptance Rate 393 of 1,367 submissions, 29%

Upcoming Conference

TEI '25

Sponsor:
sigchi

Nineteenth International Conference on Tangible, Embedded, and Embodied Interaction

March 4 - 7, 2025

Bordeaux / Talence , France

Contributors

Other Metrics

View Article Metrics

Bibliometrics & Citations

Bibliometrics

Article Metrics

20
Total Citations
View Citations
584
Total Downloads

Downloads (Last 12 months)179
Downloads (Last 6 weeks)21

Reflects downloads up to 06 Nov 2024

Other Metrics

View Author Metrics

Citations

Cited By

Marciniak ZMoon KBianchi A(2024)Decoupling Geometry from Surface Finish by Parameterizing Texture Directly in G-code for Fused Deposition Modeling (FDM) PrintingArchives of Design Research10.15187/adr.2024.05.37.2.737:2(7-23)Online publication date: 31-May-2024
https://doi.org/10.15187/adr.2024.05.37.2.7
Ishii AYasu K(2024)RelieFoam: Rapid Prototyping of 2.5D Texture using Laser CutterAdjunct Proceedings of the 37th Annual ACM Symposium on User Interface Software and Technology10.1145/3672539.3686741(1-3)Online publication date: 13-Oct-2024
https://dl.acm.org/doi/10.1145/3672539.3686741
Wen XLazaro Vasquez ERivera M(2024)Exploring a Software Tool for Biofibers DesignAdjunct Proceedings of the 37th Annual ACM Symposium on User Interface Software and Technology10.1145/3672539.3686317(1-3)Online publication date: 13-Oct-2024
https://dl.acm.org/doi/10.1145/3672539.3686317
Toka M(2024)Crafting the Computational: Artistic Production, Generative Systems, and Digital FabricationCompanion Publication of the 2024 ACM Designing Interactive Systems Conference10.1145/3656156.3665122(24-29)Online publication date: 1-Jul-2024
https://dl.acm.org/doi/10.1145/3656156.3665122
Wang GJi JXu YRen LWu XZheng CZhou XTang XFeng BSun LTao YLi J(2024)X-Hair: 3D Printing Hair-like Structures with Multi-form, Multi-property and Multi-functionProceedings of the 37th Annual ACM Symposium on User Interface Software and Technology10.1145/3654777.3676360(1-14)Online publication date: 13-Oct-2024
https://dl.acm.org/doi/10.1145/3654777.3676360
Gould JFriedman-Gerlicz CBuechley L(2024)TRAvel Slicer: Continuous Extrusion Toolpaths for 3D PrintingProceedings of the 37th Annual ACM Symposium on User Interface Software and Technology10.1145/3654777.3676349(1-17)Online publication date: 13-Oct-2024
https://dl.acm.org/doi/10.1145/3654777.3676349
Goudswaard MGoveia Da Rocha BAndersen K(2024)Entering the 3D printer: negotiations of imprecision in making.Proceedings of the 2024 ACM Designing Interactive Systems Conference10.1145/3643834.3660758(1148-1161)Online publication date: 1-Jul-2024
https://dl.acm.org/doi/10.1145/3643834.3660758
Del Valle AToka MJacobs J(2024)Engaging Young People in the Expressive Opportunities of Digital Fabrication Through Craft-Oriented CAM-Based DesignProceedings of the 2024 ACM Designing Interactive Systems Conference10.1145/3643834.3660693(1162-1176)Online publication date: 1-Jul-2024
https://dl.acm.org/doi/10.1145/3643834.3660693
Subbaraman BPeek N(2024)Playing the Print: MIDI-Based Fabrication Interfaces to Explore and Document Material BehaviorExtended Abstracts of the CHI Conference on Human Factors in Computing Systems10.1145/3613905.3650966(1-8)Online publication date: 11-May-2024
https://dl.acm.org/doi/10.1145/3613905.3650966
Bell FFriedman-Gerlicz CGould JMcclure EGelosi DBustos ASilva Lovato MSuina JBuechley L(2024)Demonstrating New Materials, Software, and Hardware from the Hand and Machine LabExtended Abstracts of the CHI Conference on Human Factors in Computing Systems10.1145/3613905.3648647(1-5)Online publication date: 11-May-2024
https://dl.acm.org/doi/10.1145/3613905.3648647
Show More Cited By

View Options

Get Access

Login options

Check if you have access through your login credentials or your institution to get full access on this article.

Full Access

Get this Publication

View options

PDF

View or Download as a PDF file.

eReader

View online with eReader.

HTML Format

View this article in HTML Format.

Media

Figures

Other

Tables

View Table of Contents