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The goal of this study is to develop a mechanical system that can display elastic characteristic of an object aiming at the application in the field of virtual reality. Pneumatic parallel manipulator is introduced as a driving mechanism, which, consequently, brings capability of minute force displaying property owing to the air compressibility. Compliance displaying scheme based on the contact force and contact point detection is proposed. The validity of the proposed scheme is verified experimentally.
control engineering computing
Digital Object Identifier: 10.1109/SICE.2003.1323400
Published with permission from the copyright holder. this is the institute's copy, as published in SICE 2003 Annual Conference, 2003, volume 1, Pages 492-497.
Copyright © 2003 IEEE. All rights reserved.
SICE 2003 Annual Conference