TY - GEN
T1 - Force-presentation method for active polyhedron for realizing physical human-machine interaction
AU - Ogawa, Hiroshi
AU - Kosaka, Kazuyoshi
AU - Suzumori, Koichi
AU - Kanda, Takefumi
PY - 2006/12/27
Y1 - 2006/12/27
N2 - The goal of this research is to develop a new type of haptic interface termed "Active Polyhedron", which realizes a physical human-machine interaction with virtual continuum objects in PCs. Active polyhedrons are polyhedron-shaped linkage mechanisms. In this paper, we deal with an active icosahedron consisting of 30 intelligent cylinders, which were specially developed for this purpose. In previous reports, the mechanism and kinematics of an active icosahedron and a simple force-presentation method using on/off pneumatic valves were given. In this report, a new force-presentation pneumatic-control system using pressure-control valves, which allows a highly accurate force presentation capable of handling complex continuum objects, and a new force-presentation algorithm, which applies to an apex of the polyhedron are described. These were applied to the active icosahedron. The experimental results showed that the active icosahedron was successful in realizing physical human-machine interaction, with which operators could change the shape, feel and compliance of virtual objects in a PC as if they actually touched them.
AB - The goal of this research is to develop a new type of haptic interface termed "Active Polyhedron", which realizes a physical human-machine interaction with virtual continuum objects in PCs. Active polyhedrons are polyhedron-shaped linkage mechanisms. In this paper, we deal with an active icosahedron consisting of 30 intelligent cylinders, which were specially developed for this purpose. In previous reports, the mechanism and kinematics of an active icosahedron and a simple force-presentation method using on/off pneumatic valves were given. In this report, a new force-presentation pneumatic-control system using pressure-control valves, which allows a highly accurate force presentation capable of handling complex continuum objects, and a new force-presentation algorithm, which applies to an apex of the polyhedron are described. These were applied to the active icosahedron. The experimental results showed that the active icosahedron was successful in realizing physical human-machine interaction, with which operators could change the shape, feel and compliance of virtual objects in a PC as if they actually touched them.
KW - Force-presentation
KW - Haptic interface
KW - Human-machine interaction
KW - Pneumatic actuator
KW - Virtual reality
UR - http://www.scopus.com/inward/record.url?scp=33845645562&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33845645562&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2006.1642306
DO - 10.1109/ROBOT.2006.1642306
M3 - Conference contribution
AN - SCOPUS:33845645562
SN - 0780395069
SN - 9780780395060
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3941
EP - 3947
BT - Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
T2 - 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Y2 - 15 May 2006 through 19 May 2006
ER -