About the Research
About the Research
About the Research
Drawing Beyond the Prompt is a design-led research project that explores how generative AI can better support designers—not by replacing them, but by adapting to how they think and work. Instead of typing static prompts, designers can draw freely while speaking their ideas. A speech-to-text model transcribes their voice into prompt text, allowing for seamless, real-time interaction without breaking creative flow.
This research focuses on designing with the human at the centre. By developing functional prototypes and testing them in workshops with design students and professionals, the project examines how sketch-and-speak interaction changes the way designers engage with AI. The goal is to create tools that feel less like machines waiting for instructions, and more like creative partners that respond naturally to human input.
Drawing Beyond the Prompt is a design-led research project that explores how generative AI can better support designers—not by replacing them, but by adapting to how they think and work. Instead of typing static prompts, designers can draw freely while speaking their ideas. A speech-to-text model transcribes their voice into prompt text, allowing for seamless, real-time interaction without breaking creative flow.
This research focuses on designing with the human at the centre—supporting intuition, authorship, and spontaneity in the creative process. By developing functional prototypes and testing them in workshops with design students and professionals, the project examines how sketch-and-speak interaction changes the way designers engage with AI. The goal is to create tools that feel less like machines waiting for instructions, and more like creative partners that respond naturally to human input.
Drawing Beyond the Prompt is a design-led research project that explores how generative AI can better support designers—not by replacing them, but by adapting to how they think and work. Instead of typing static prompts, designers can draw freely while speaking their ideas. A speech-to-text model transcribes their voice into prompt text, allowing for seamless, real-time interaction without breaking creative flow.
This research focuses on designing with the human at the centre—supporting intuition, authorship, and spontaneity in the creative process. By developing functional prototypes and testing them in workshops with design students and professionals, the project examines how sketch-and-speak interaction changes the way designers engage with AI. The goal is to create tools that feel less like machines waiting for instructions, and more like creative partners that respond naturally to human input.
Context
Context
Context


Generative AI has shifted from novelty to staple in design toolkits.
Generative AI has shifted from novelty to staple in design toolkits.
Generative AI has shifted from novelty to staple in design toolkits.
AI adoption is accelerating globally—72% of organizations now use AI in at least one business function (McKinsey & Company, 2025), with 83% of creatives already engaging with generative AI in their design workflows (itsnicethat, 2023).
AI adoption is accelerating globally—72% of organizations now use AI in at least one business function (McKinsey & Company, 2025), with 83% of creatives already engaging with generative AI in their design workflows (itsnicethat, 2023).
AI adoption is accelerating globally—72% of organizations now use AI in at least one business function (McKinsey & Company, 2025), with 83% of creatives already engaging with generative AI in their design workflows (itsnicethat, 2023).
Singapore is positioning design education for an AI-centric future.
Singapore is positioning design education for an AI-centric future.
Singapore is positioning design education for an AI-centric future.
In Singapore, initiatives like the Future Design School blueprint and the National AI Strategy 2.0 signal a national push to prepare the next generation for AI creative futures. (Channel News Asia, 2024)
In Singapore, initiatives like the Future Design School blueprint and the National AI Strategy 2.0 signal a national push to prepare the next generation for AI creative futures. (Channel News Asia, 2024)
In Singapore, initiatives like the Future Design School blueprint and the National AI Strategy 2.0 signal a national push to prepare the next generation for AI creative futures. (Channel News Asia, 2024)
Graphic Design Roles in Decline.
Graphic Design Roles in Decline.
Graphic Design Roles in Decline.
The World Economic Forums Future of Jobs Report 2025 ranks graphic design as the 11 th fastest‑declining occupation for 2025‑2030, attributing the drop to the rapid spread of generative AI and wider digital access that automate core design work. (DesignWeek, 2025)
The World Economic Forums Future of Jobs Report 2025 ranks graphic design as the 11 th fastest‑declining occupation for 2025‑2030, attributing the drop to the rapid spread of generative AI and wider digital access that automate core design work. (DesignWeek, 2025)
The World Economic Forums Future of Jobs Report 2025 ranks graphic design as the 11 th fastest‑declining occupation for 2025‑2030, attributing the drop to the rapid spread of generative AI and wider digital access that automate core design work. (DesignWeek, 2025)
Challenges
Challenges
Challenges
The World Economic Forum Future of Jobs Report 2025 ranks graphic design as the 11th fastest-declining job. This decline is linked to two main factors: (1) generative AI tools that can now perform many design tasks, and (2) easy-to-use online platforms that allow non-designers to produce visual content. However, despite their growing use, current generative AI tools do not fully support the needs of professional designers. Designers who have experimented with these tools often encounter four common challenges:
The World Economic Forum Future of Jobs Report 2025 ranks graphic design as the 11th fastest-declining job. This decline is linked to two main factors: (1) generative AI tools that can now perform many design tasks, and (2) easy-to-use online platforms that allow non-designers to produce visual content. However, despite their growing use, current generative AI tools do not fully support the needs of professional designers. Designers who have experimented with these tools often encounter four common challenges:
The World Economic Forum Future of Jobs Report 2025 ranks graphic design as the 11th fastest-declining job. This decline is linked to two main factors: (1) generative AI tools that can now perform many design tasks, and (2) easy-to-use online platforms that allow non-designers to produce visual content. However, despite their growing use, current generative AI tools do not fully support the needs of professional designers. Designers who have experimented with these tools often encounter four common challenges:
Prompts misalign
with creative intent
Prompts misalign
with creative intent
Prompts misalign
with creative intent
Slow output breaks
creative flow
Slow output breaks
creative flow
Slow output breaks
creative flow
Limited support
for personal style
Limited support
for personal style
Limited support
for personal style
Interfaces do not match
design workflows
Interfaces do not match
design workflows
Interfaces do not match
design workflows
These gaps highlight the need for more interactive and embodied ways for designers to guide AI systems.
These gaps highlight the need for more interactive and embodied ways for designers to guide AI systems.
These gaps highlight the need for more interactive and embodied ways for designers to guide AI systems.
This raises the question
This raises the question
This raises the question
How can the integration of real-time multimodal interactions—drawing and speech—in generative AI systems deepen designers’ flow, enhance creative control, and expand design possibilities in graphic design?
How can the integration of real-time multimodal interactions—drawing and speech—in generative AI systems deepen designers’ flow, enhance creative control, and expand design possibilities in graphic design?
How can the integration of real-time multimodal interactions—drawing and speech—in generative AI systems deepen designers’ flow, enhance creative control, and expand design possibilities in graphic design?
Design Frameworks
Design Frameworks
Design Frameworks
Speculative design is used as the guiding framework for this research, steering the development of concept prototypes and future-oriented workshop exercises. It focuses on envisioning alternate design futures and probing the social, cultural, and ethical implications of AI in design. By employing design fiction, speculative design allows the creation of provocative prototypes and narratives that represent future AI-driven tools or experiences. These prototypes and narratives serve to spark critical discussion and reflection on how generative AI might transform graphic design, encouraging stakeholders to imagine and debate preferred versus problematic future scenarios.
The World Economic Forum Future of Jobs Report 2025 ranks graphic design as the 11th fastest-declining job. This decline is linked to two main factors: (1) generative AI tools that can now perform many design tasks, and (2) easy-to-use online platforms that allow non-designers to produce visual content. However, despite their growing use, current generative AI tools do not fully support the needs of professional designers. Designers who have experimented with these tools often encounter four common challenges:
The World Economic Forum Future of Jobs Report 2025 ranks graphic design as the 11th fastest-declining job. This decline is linked to two main factors: (1) generative AI tools that can now perform many design tasks, and (2) easy-to-use online platforms that allow non-designers to produce visual content. However, despite their growing use, current generative AI tools do not fully support the needs of professional designers. Designers who have experimented with these tools often encounter four common challenges:
Design thinking complements the speculative framework by grounding it in a human-centered, iterative and reflective process so that the fictional prototypes are not just imaginative, but also meaningful and functional for users in the present or near future.
Together, this dual-methodology enables a richer investigation: it addresses the practical design of a real-time multimodal AI creative tool, while simultaneously critiquing and shaping the long-term future of generative AI in graphic design through speculative tools, which helps participants imagine, discuss, and reflect on possible futures of the practice.
Design thinking complements the speculative framework by grounding it in a human-centered, iterative and reflective process so that the fictional prototypes are not just imaginative, but also meaningful and functional for users in the present or near future.
Together, this dual-methodology enables a richer investigation: it addresses the practical design of a real-time multimodal AI creative tool, while simultaneously critiquing and shaping the long-term future of generative AI in graphic design through speculative tools, which helps participants imagine, discuss, and reflect on possible futures of the practice.
Design thinking complements the speculative framework by grounding it in a human-centered, iterative and reflective process so that the fictional prototypes are not just imaginative, but also meaningful and functional for users in the present or near future.
Together, this dual-methodology enables a richer investigation: it addresses the practical design of a real-time multimodal AI creative tool, while simultaneously critiquing and shaping the long-term future of generative AI in graphic design through speculative tools, which helps participants imagine, discuss, and reflect on possible futures of the practice.
Drawing Beyond the Prompt framed through Frayling’s key approaches to design research
Drawing Beyond the Prompt framed through Frayling’s key approaches to design research


Research for Design
Research for Design
Research for Design
Develop tools, frameworks, and knowledge that supports design practice.
Develop tools, frameworks, and knowledge that supports design practice.
Develop tools, frameworks, and knowledge that supports design practice.
Develops speculative prototypes that support more fluid and expressive ways of creating.
Use workshop kits to help designers and students imagine and critically reflect on the future of design with generative AI.
Creates resources that can be used by practicing designers and in design education.
Develops speculative prototypes that support more fluid and expressive ways of creating.
Use workshop kits to help designers and students imagine and critically reflect on the future of design with generative AI.
Creates resources that can be used by practicing designers and in design education.
Develops speculative prototypes that support more fluid and expressive ways of creating.
Use workshop kits to help designers and students imagine and critically reflect on the future of design with generative AI.
Creates resources that can be used by practicing designers and in design education.
Research into Design
Research into Design
Research into Design
Investigate and understand existing design practices, cultures, tools, or technologies.
Investigate and understand existing design practices, cultures, tools, or technologies.
Investigate and understand existing design practices, cultures, tools, or technologies.
Develops speculative prototypes that support more fluid and expressive ways of creating.
Use workshop kits to help designers and students imagine and critically reflect on the future of design with generative AI.
Creates resources that can be used by practicing designers and in design education.
Develops speculative prototypes that support more fluid and expressive ways of creating.
Use workshop kits to help designers and students imagine and critically reflect on the future of design with generative AI.
Creates resources that can be used by practicing designers and in design education.
Develops speculative prototypes that support more fluid and expressive ways of creating.
Use workshop kits to help designers and students imagine and critically reflect on the future of design with generative AI.
Creates resources that can be used by practicing designers and in design education.
Research through Design
Research through Design
Research through Design
Use the act of designing as a method to generate knowledge.
Use the act of designing as a method to generate knowledge.
Use the act of designing as a method to generate knowledge.
Develops speculative prototypes that support more fluid and expressive ways of creating.
Use workshop kits to help designers and students imagine and critically reflect on the future of design with generative AI.
Creates resources that can be used by practicing designers and in design education.
Develops speculative prototypes that support more fluid and expressive ways of creating.
Use workshop kits to help designers and students imagine and critically reflect on the future of design with generative AI.
Creates resources that can be used by practicing designers and in design education.
Develops speculative prototypes that support more fluid and expressive ways of creating.
Use workshop kits to help designers and students imagine and critically reflect on the future of design with generative AI.
Creates resources that can be used by practicing designers and in design education.
Target Audience and Stakeholders
Target Audience and Stakeholders
Target Audience and Stakeholders
Research Briefs
Research Briefs
1.Drawing & Speech Real-time Generative AI Prototype
1.Drawing & Speech Real-time Generative AI Prototype
1.Drawing & Speech Real-time Generative AI Prototype
The Drawing and Speech Prototype explores how multimodal interaction (drawing + speech) influences creative workflows in AI-assisted design. This prototype investigates how users engage with hand-drawn inputs while using speech to control AI-generated outputs.
The Drawing and Speech Prototype explores how multimodal interaction (drawing + speech) influences creative workflows in AI-assisted design. This prototype investigates how users engage with hand-drawn inputs while using speech to control AI-generated outputs.
The Drawing and Speech Prototype explores how multimodal interaction (drawing + speech) influences creative workflows in AI-assisted design. This prototype investigates how users engage with hand-drawn inputs while using speech to control AI-generated outputs.
2.Speculative Design Workshop
2.Speculative Design Workshop
2.Speculative Design Workshop
To engage designers in a speculative exploration of AI’s role in future creative workflows using the A.I.D.E. (Arc, Issue, Design Artifact, Emotion) card game. The workshop encourages critical thinking about AI-driven futures, ethical dilemmas, and new design possibilities.
To engage designers in a speculative exploration of AI’s role in future creative workflows using the A.I.D.E. (Arc, Issue, Design Artifact, Emotion) card game. The workshop encourages critical thinking about AI-driven futures, ethical dilemmas, and new design possibilities.
To engage designers in a speculative exploration of AI’s role in future creative workflows using the A.I.D.E. (Arc, Issue, Design Artifact, Emotion) card game. The workshop encourages critical thinking about AI-driven futures, ethical dilemmas, and new design possibilities.
Design Artefacts
Design Artefacts
Speculative Workshop Toolkit
Speculative Workshop Toolkit
Engage designers in critically imagining futures of AI-assisted design practice.
Engage designers in critically imagining futures of AI-assisted design practice.
Engage designers in critically imagining futures of AI-assisted design practice.
AIDE Card
Game
AIDE Card
Game
Encourage speculative thinking about design futures shaped by AI, using a narrative-driven card game inspired by The Thing from the Future.
Encourage speculative thinking about design futures shaped by AI, using a narrative-driven card game inspired by The Thing from the Future.
Encourage speculative thinking about design futures shaped by AI, using a narrative-driven card game inspired by The Thing from the Future.
Drawing+Speech
Prototypes
Drawing+Speech
Prototypes
Prototype and test interaction between humans and generative AI through real-time sketching and spoken input.
Prototype and test interaction between humans and generative AI through real-time sketching and spoken input.
Prototype and test interaction between humans and generative AI through real-time sketching and spoken input.
Research
Website
Research
Website
A central hub for documenting
and sharing the research journey, workshop activities, and speculative outcomes.
A central hub for documenting and sharing the research journey, workshop activities, and speculative outcomes.
A central hub for documenting
and sharing the research journey, workshop activities, and speculative outcomes.
Prototype
Explainer Video
Prototype
Explainer Video
Allows participants, researchers, and external viewers to engage with the speculative prototype without needing to interact with it directly.
Allows participants, researchers, and external viewers to engage with the speculative prototype without needing to interact with it directly.
Allows participants, researchers, and external viewers to engage with the speculative prototype without needing to interact with it directly.
Research Methods
Research Methods
Research Methods
Impact of Research
Impact of Research
Research
Research
Research
Uncovers how real-time multimodal interactions affect creative flow, authorship, and control.
Contributes to HCI, speculative design, and creative AI through user testing and scenario work.
Offers a research-through-design case study on interaction models for exploration and reflection.
Uncovers how real-time multimodal interactions affect creative flow, authorship, and control.
Contributes to HCI, speculative design, and creative AI through user testing and scenario work.
Offers a research-through-design case study on interaction models for exploration and reflection.
Culture
Culture
Reimagines future design tools and designers’ roles in an AI-driven world.
Promotes reflection on the social, ethical, and emotional dimensions of AI creation.
Opens dialogue on authorship and responsibility in AI-generated work.
Reimagines future design tools and designers’ roles in an AI-driven world.
Promotes reflection on the social, ethical, and emotional dimensions of AI creation.
Opens dialogue on authorship and responsibility in AI-generated work.
Design
Design
Introduces intuitive alternatives to text-based prompting.
Positions AI as a creative partner for designers.
Uses speculative scenarios to rethink tools, authorship, and future design systems.
Introduces intuitive alternatives to text-based prompting.
Positions AI as a creative partner for designers.
Uses speculative scenarios to rethink tools, authorship, and future design systems.
Behaviour
Behaviour
Behaviour
Fosters open-ended, playful design through immediate feedback.
Promotes curiosity, risk-taking, and process-focused creativity.
Shifts AI use from outcome-driven to collaborative idea exploration.
Fosters open-ended, playful design through immediate feedback.
Promotes curiosity, risk-taking, and process-focused creativity.
Shifts AI use from outcome-driven to collaborative idea exploration.
Habits
Habits
Supports new creative habits through multimodal interaction.
Reinforces design as a real-time, conversational, and embodied process.
Builds fluency with AI, enabling more integrated use in design workflows.
Supports new creative habits through multimodal interaction.
Reinforces design as a real-time, conversational, and embodied process.
Builds fluency with AI, enabling more integrated use in design workflows.
Education
Education
Offers a speculative toolkit for integration into design education.
Promotes reflective habits by combining creative experimentation with ethical inquiry.
Offers a speculative toolkit for integration into design education.
Promotes reflective habits by combining creative experimentation with ethical inquiry.
Research Theories and Frameworks
Research Theories
and Frameworks
Research Theories and Frameworks


Bibliography
Bibliography
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Nielsen, Jakob. “10 Usability Heuristics for User Interface Design.” NN/g Nielsen Norman Group, Nov. 2020, https://www.nngroup.com/articles/ten-usability-heuristics/.
Norman, Donald A. The Design of Everyday Things. MIT Press, 2013.
Shneiderman, Ben. “Direct Manipulation: A Step Beyond Programming Languages.” Computer, vol. 16, no. 8, 1983, pp. 57–69.
Oviatt, Sharon L., and Philip R. Cohen. “Multimodal Interfaces That Process What Comes Naturally.” Communications of the ACM, vol. 43, no. 3, 2000, pp. 45–53.
Schön, Donald A. The Reflective Practitioner: How Professionals Think in Action. Ashgate Publishing, 1991.
Boden, Margaret A. “Creativity and Artificial Intelligence.” Artificial Intelligence, vol. 103, no. 1-2, 1998, pp. 347–56.
Amabile, Teresa M. “Componential Theory of Creativity.” Harvard Business School Working Paper, no. 12-096, Apr. 2012.
Nielsen, Jakob. “10 Usability Heuristics for User Interface Design.” NN/g Nielsen Norman Group, Nov. 2020, https://www.nngroup.com/articles/ten-usability-heuristics/.
Norman, Donald A. The Design of Everyday Things. MIT Press, 2013.
Shneiderman, Ben. “Direct Manipulation: A Step Beyond Programming Languages.” Computer, vol. 16, no. 8, 1983, pp. 57–69.
Oviatt, Sharon L., and Philip R. Cohen. “Multimodal Interfaces That Process What Comes Naturally.” Communications of the ACM, vol. 43, no. 3, 2000, pp. 45–53.
Schön, Donald A. The Reflective Practitioner: How Professionals Think in Action. Ashgate Publishing, 1991.
Boden, Margaret A. “Creativity and Artificial Intelligence.” Artificial Intelligence, vol. 103, no. 1-2, 1998, pp. 347–56.
Amabile, Teresa M. “Componential Theory of Creativity.” Harvard Business School Working Paper, no. 12-096, Apr. 2012.
Nielsen, Jakob. “10 Usability Heuristics for User Interface Design.” NN/g Nielsen Norman Group, Nov. 2020, https://www.nngroup.com/articles/ten-usability-heuristics/.
Norman, Donald A. The Design of Everyday Things. MIT Press, 2013.
Shneiderman, Ben. “Direct Manipulation: A Step Beyond Programming Languages.” Computer, vol. 16, no. 8, 1983, pp. 57–69.
Oviatt, Sharon L., and Philip R. Cohen. “Multimodal Interfaces That Process What Comes Naturally.” Communications of the ACM, vol. 43, no. 3, 2000, pp. 45–53.
Schön, Donald A. The Reflective Practitioner: How Professionals Think in Action. Ashgate Publishing, 1991.
Boden, Margaret A. “Creativity and Artificial Intelligence.” Artificial Intelligence, vol. 103, no. 1-2, 1998, pp. 347–56.
Sharpe, Bill, et al. “Three Horizons: A Pathways Practice for Transformation.” Ecology and Society, vol. 21, no. 2, 2016, p. 47.
Csikszentmihalyi, Mihaly. Flow: The Psychology of Optimal Experience. Harper & Row, 1990.
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Resnick, Mitchel, et al. Design Principles for Tools to Support Creative Thinking. National Science Foundation Workshop on Creativity Support Tools, 30 Oct. 2005, Washington, DC.
Sharpe, Bill, et al. “Three Horizons: A Pathways Practice for Transformation.” Ecology and Society, vol. 21, no. 2, 2016, p. 47.
Csikszentmihalyi, Mihaly. Flow: The Psychology of Optimal Experience. Harper & Row, 1990.
Wu, Zhuohao, et al. "AI Creativity and the Human-AI Co-creation Model." Human-Computer Interaction. Theory, Methods and Tools, edited by Masaaki Kurosu, Springer International Publishing, 2021, pp. 171-190. Lecture Notes in Computer Science, vol. 12762,doi:10.1007/978-3-030-78462-1_13.
Carroll, Erin, and Celine Latulipe. “Quantifying the Creativity Support of Digital Tools through the Creativity Support Index.” ACM Transactions on Computer-Human Interaction (TOCHI), vol. 21, no. 4, 2014, pp. 21:1–21:25.
Sterling, Bruce. “Slipstream.” Science Fiction Eye, July 1989, pp. 77-80.
Resnick, Mitchel, et al. Design Principles for Tools to Support Creative Thinking. National Science Foundation Workshop on Creativity Support Tools, 30 Oct. 2005, Washington, DC.
Sharpe, Bill, et al. “Three Horizons: A Pathways Practice for Transformation.” Ecology and Society, vol. 21, no. 2, 2016, p. 47.
Csikszentmihalyi, Mihaly. Flow: The Psychology of Optimal Experience. Harper & Row, 1990.
Wu, Zhuohao, et al. "AI Creativity and the Human-AI Co-creation Model." Human-Computer Interaction. Theory, Methods and Tools, edited by Masaaki Kurosu, Springer International Publishing, 2021, pp. 171-190. Lecture Notes in Computer Science, vol. 12762,doi:10.1007/978-3-030-78462-1_13.
Carroll, Erin, and Celine Latulipe. “Quantifying the Creativity Support of Digital Tools through the Creativity Support Index.” ACM Transactions on Computer-Human Interaction (TOCHI), vol. 21, no. 4, 2014, pp. 21:1–21:25.
Sterling, Bruce. “Slipstream.” Science Fiction Eye, July 1989, pp. 77-80.
Resnick, Mitchel, et al. Design Principles for Tools to Support Creative Thinking. National Science Foundation Workshop on Creativity Support Tools, 30 Oct. 2005, Washington, DC.
Dunne, Anthony, and Fiona Raby. Speculative Everything: Design, Fiction, and Social Dreaming. MIT Press, 2013.
Wertheimer, Max. “Laws of Organization in Perceptual Forms.” Psycologische Forschung, vol. 4, 1923, pp. 301-50. Translated in W. Ellis, A Source Book of Gestalt Psychology, Routledge & Kegan Paul, 1938, pp. 71-88.
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Köhler, Wolfgang. Gestalt Psychology. Liveright, 1929.
Sweller, John. “Cognitive Load During Problem Solving: Effects on Learning.” Cognitive Science, vol. 12, no. 2, 1988, pp. 257–285.
Dunne, Anthony, and Fiona Raby. Speculative Everything: Design, Fiction, and Social Dreaming. MIT Press, 2013.
Wertheimer, Max. “Laws of Organization in Perceptual Forms.” Psycologische Forschung, vol. 4, 1923, pp. 301-50. Translated in W. Ellis, A Source Book of Gestalt Psychology, Routledge & Kegan Paul, 1938, pp. 71-88.
Koffka, Kurt. Principles of Gestalt Psychology. Harcourt, Brace & World, 1935.
Köhler, Wolfgang. Gestalt Psychology. Liveright, 1929.
Sweller, John. “Cognitive Load During Problem Solving: Effects on Learning.” Cognitive Science, vol. 12, no. 2, 1988, pp. 257–285.
Dunne, Anthony, and Fiona Raby. Speculative Everything: Design, Fiction, and Social Dreaming. MIT Press, 2013.
Wertheimer, Max. “Laws of Organization in Perceptual Forms.” Psycologische Forschung, vol. 4, 1923, pp. 301-50. Translated in W. Ellis, A Source Book of Gestalt Psychology, Routledge & Kegan Paul, 1938, pp. 71-88.
Koffka, Kurt. Principles of Gestalt Psychology. Harcourt, Brace & World, 1935.
Köhler, Wolfgang. Gestalt Psychology. Liveright, 1929.
Sweller, John. “Cognitive Load During Problem Solving: Effects on Learning.” Cognitive Science, vol. 12, no. 2, 1988, pp. 257–285.