My research asks the question How can design re-think the approach to enhancement technologies? I approach this question through reflective practice-led inquiry, designing wearable systems aimed at questioning, extending and reframing the very notion of enhancement. Through three projects and the thesis, I offer a new approach to enhancement focused on expanding an agent’s senses within its environment to access hidden affordances. My research aims at establishing a pragmatic and practice-led approach to enhancement systems that translates philosophical debates into actionable artefacts.

The research’s intended audience includes researchers and practitioners seeking a pragmatic approach to design enhancement technologies that extend the sensory information available to an agent. It also contributes to theories of enhancement by developing a design-led methodology for sensory enhancement that uses ideas from theories of embodiment, affordance, and design cybernetics.

The thesis builds on the debate concerning human augmentation, which has often followed subjective and ambiguous assumptions. Modern approaches to the subject – bio-conservatism and bio-liberalism – contend that enhancement technologies affect humanity’s essence despite different defining perspectives. I argue for separating the notion of “enhancement” from “human”, focusing instead on any agent’s body and senses, or lack thereof. I redefine enhancement as the practice of enabling agents to perceive environmental information they traditionally would not have access to. This information is presented to the agent through feedback loops that use the agent’s pre-existing senses. I define this practice as sensory layering.

I first establish a body-centric framework that addresses enhancement technology agnostically as the enhancement of both humans and human-made agents such as robots. This acknowledges but deliberately sets aside much of the debate about what is essentially human. Within this framework, I redefine enhancements as devices expanding an agent’s senses in its environment to access hidden affordances. Next, I elaborate on five guidelines that facilitate cutting through the cross-domain knowledge needed to develop pragmatic enhancements. Finally, I explore these five guidelines through three case studies to enhance the navigation abilities of human and human-made agents.

The five design guidelines for practitioners approaching wearable enhancement form parts of an overall design strategy and are concerned with: (1) selecting the hidden affordance to target, (2) selecting a pre-existing sense to design on, (3) deciding on how the feedback loop integrates with the agent’s pre-existing senses, (4) locating the wearable on the agent’s body, and (5) making the final design accessible to and reproducible by a larger community.

The three case studies of wearable enhancements are used to gauge the guidelines’ value, utility and transferability. Further, they present several advancements in the state-of-the-art in robotics, Human-Computer Interaction and wearables.

The first case is a robot’s resilience to motor faults. The project aims to develop a motor assembly that predicts a fault and switches to a backup system. The system allows a robot to keep moving by anticipating and preventing hardware failures. I employed on-device deep learning algorithms and a custom 3D-printed motor assembly. This project illustrates how the design guidelines apply to human-made agents. It highlights the importance of Guideline 3 when designing robotic enhancements.

The second case study investigates how a human’s sense of direction can be enhanced by layering the perception of magnetic North. This project aimed to exemplify a design pipeline for body-moulded wearable enhancements, resulting in a wearable device moulded on the wearer’s body. To this end, I employed photogrammetry and 3D printing. This prototype highlights Guidelines 2 and 4.

The final case study looks into layering digital audio information on humans moving through a physical space. This project introduces a hybrid bone and soft tissue conduction headset and a mixed reality experience that provides contextual audio feedback. The hybrid headset was designed to address the limited ability of off-the-shelf bone conducting headphones to reproduce a wide range of sound frequencies without occluding the ear canal. Further, the system employs centimetre-level accurate ultra-wideband sensors to track wearers indoors, streaming their position data to a simulation in real-time. Based on their position, the wearers receive layered sound cues about the environment they are navigating. This final prototype highlights the role of Guidelines 3 and 4.

My contribution to knowledge is threefold. First, each of the three case studies presents a distinct design innovation: a novel redundant actuator in robotics, a body-centric design pipeline for wearable systems, and a hybrid bone and soft-tissue conduction headset for immersive audio experiences. Second, the research introduces and rigorously explores five design guidelines, forming a new, pragmatic framework for developing enhancement technologies. These guidelines provide practitioners with a method for navigating complex domains like design and robotics through sensory layering. Finally, this framework also advances enhancement theory by challenging traditional, human-centric views of enhancement, proposing an agent-centric – whether human or human-made – epistemology.

My research materialises theoretical concepts, via experiential prototypes, to explore and reflect on the theory of enhancement itself.