JRM Vol.13 No.5 pp. 472-478
doi: 10.20965/jrm.2001.p0472


Development of Pneumatic Human Interface and its Application to Compliance Display

Masahiro Takaiwa and Toshiro Noritsugu

Faculty of Engineering, Okayama University, 3-1-1 Tsushimanaka Okayama Japan

May 2, 2001
June 6, 2001
October 20, 2001
pneumatic serro system, parallel manipulator, human interface, air compressibility, elastic characteristic
The goal of this study is to develop a human interface that can display compliance for human hand aiming at the application in the field of virtual reality. Pneumatic parallel manipulator is introduced as a driving mechanism of our human interface, consequently, which yields characteristic that the manipulator works as a kind of elastic body even when its position/orientation is under the control. Using this elastic characteristic, a compliance display scheme is proposed. The validity of the proposed scheme is verified experimentally.
Cite this article as:
M. Takaiwa and T. Noritsugu, “Development of Pneumatic Human Interface and its Application to Compliance Display,” J. Robot. Mechatron., Vol.13 No.5, pp. 472-478, 2001.
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