Ratchair is a strategy for displacing big objects by attaching relatively small vibration sources. After learning how several random bursts of vibration affect its pose, an optimisation algorithm discovers the optimal sequence of vibration patterns required to (slowly but surely) move the object to a specified position.

closeup of the vibration module

We designed sources of vibration that can be easily attached to furniture and objects. Embedding vibration modules as part of mass-produced objects may provide a low-cost way to make almost anything mobile. The principle is agnostic with respect to the shape of the object, number, type, or relative position of the actuators.



  1. Furniture that learns to move itself.Tetiana Parshakova, Minjoo Cho, Alvaro Cassinelli and Daniel Saakes. In CHI ’17 Extended Abstracts on Human Factors in Computing Systems. 2017. [bib]
  2. Ratchair: Furniture Learns to Move Itself with Vibration. Tetiana Parshakova, Minjoo Cho, Alvaro Cassinelli and Daniel Saakes. In Siggraph ’16 Emerging Technologies. 2016. [doi] [bib]


  1. Digital Content Expo, 27 – 30 October 2016. Tokyo, Japan
  2. SIGGRAPH 2016 Emerging Technologies, 4 – 8 July 2016. Anaheim, California, USA
  3. Maker Faire Seoul 2015, 10 – 11 October 2015. Seoul, Republic of Korea