TY - GEN
T1 - Development of active polyhedron for physical human-machine interaction and its application to CAD/CAM operation
AU - Ogawa, Hiroshi
AU - Kosaka, Kazuyoshi
AU - Suzumori, Koichi
AU - Kanda, Takefumi
PY - 2006/12/1
Y1 - 2006/12/1
N2 - The goal of this research is a development of a new haptic interface realizing Physical Human-Machine Interaction. The new haptic interface termed Active Polyhedron is devised. Active Polyhedron can display force on multi-point, making this device realize operation to complex continuum. In this report, the active icosahedron, which is one of Active Polyhedron and pneumatically-driven, is developed. The active icosahedron consists of 30 pneumatic cylinders which have position sensor. In previous research, position-control algorithm and force-control algorithm were reported. Position-control algorithm computes positions of active icosahedron's apex based on displacements of link-length. Force-control algorithm computes output-forces on cylinder based on output-forces on apexes. Applying these algorithms, active icosahedron can realize input-position and output-force. We develop a new type of an application, which is 3D-CAD/CAM operation. In this application, an operator can perform advanced-design to generate commonly used CAD/CAM data, using the active icosahedron. At the same time, the operator feels stiffness of the model as if he touches to it. As a result, finer and more complex design is able to be performed.
AB - The goal of this research is a development of a new haptic interface realizing Physical Human-Machine Interaction. The new haptic interface termed Active Polyhedron is devised. Active Polyhedron can display force on multi-point, making this device realize operation to complex continuum. In this report, the active icosahedron, which is one of Active Polyhedron and pneumatically-driven, is developed. The active icosahedron consists of 30 pneumatic cylinders which have position sensor. In previous research, position-control algorithm and force-control algorithm were reported. Position-control algorithm computes positions of active icosahedron's apex based on displacements of link-length. Force-control algorithm computes output-forces on cylinder based on output-forces on apexes. Applying these algorithms, active icosahedron can realize input-position and output-force. We develop a new type of an application, which is 3D-CAD/CAM operation. In this application, an operator can perform advanced-design to generate commonly used CAD/CAM data, using the active icosahedron. At the same time, the operator feels stiffness of the model as if he touches to it. As a result, finer and more complex design is able to be performed.
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U2 - 10.1109/MHS.2006.320334
DO - 10.1109/MHS.2006.320334
M3 - Conference contribution
AN - SCOPUS:50449096042
SN - 1424407176
SN - 9781424407170
T3 - 2006 IEEE International Symposium on Micro-Nano Mechanical and Human Science, MHS
BT - 2006 IEEE International Symposium on Micro-Nano Mechanical and Human Science, MHS
T2 - 2006 IEEE International Symposium on Micro-Nano Mechanical and Human Science, MHS
Y2 - 5 November 2006 through 8 November 2006
ER -