このエントリーをはてなブックマークに追加
ID 33066
FullText URL
Author
Ochi, Jumpei
Hashimoto, Tatsuya
Abstract

<p>In this paper, we propose a new type of haptic interface, named active link mechanism. This device realizes physical man-machine interaction (PMI) between machines and persons. Two prototypes were developed to demonstrate the potential of the active link mechanisms. Developed interface devices are an active tetrahedron and an active icosahedron. Nine-DOF micro spherical joints and pressure control pneumatic cylinders were developed to realize the active tetrahedron, while fifteen-DOF micro spherical joints and intelligent pneumatic cylinders were developed for the active icosahedron. The tetrahedron successfully realizes "virtual touch"; the operators feel actions, forces, and shapes of the virtual objects in PC and also move and deform them. Real time PMI is realized by building the developed devices into MSC.Visual-Nastran4D. MSC.VisuaI-Nastran4D is a mechanism analysis software, which can make motion analysis in real time. The active icosahedron also realized dynamic interaction with virtual objects in PC, showing the potential of the devices as a haptic interface.</p>

Keywords
computer vision
haptic interfaces
man-machine systems
pneumatic actuators
pressure control
tactile sensors
virtual reality
Note
Digital Object Identifier: 10.1109/IROS.2004.1390022
Published with permission from the copyright holder.this is the institute's copy, as published in Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on, 28 Sept.-2 Oct. 2004, Volume: 4, Pages 3895-3900 vol.4 .
Publisher URL:http://dx.doi.org/10.1109/IROS.2004.1390022
Copyright © 2004 IEEE. All rights reserved.
Published Date
2004-10
Publication Title
Intelligent Robots and Systems
Volume
volume4
Start Page
3895
End Page
3900
Content Type
Journal Article
language
英語
Refereed
True
DOI
Submission Path
mechanical_engineering/27