As domestic robots and smart appliances become increasingly common, they require a simple, universal interface to control their motion. Such an interface must support a simple selection of a connected device, highlight its capabilities and allow for an intuitive manipulation. We propose "exTouch", an embodied spatially-aware approach to touch and control devices through an augmented reality mediated mobile interface. The "exTouch" system extends the users touchscreen interactions into the real

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... orld by enabling spatial control over the actuated object. When users touch a device shown in live video on the screen, they can change its position and orientation through multi-touch gestures or by physically moving the screen in relation to the controlled object. We demonstrate that the system can be used for applications such as an omnidirectional vehicle, a drone, and moving furniture for reconfigurable room.