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JRM Vol.17 No.3 pp. 293-301
doi: 10.20965/jrm.2005.p0293
(2005)

Paper:

Development of Active Links for Physical Man-Machine Interaction

Jumpei Ochi, Koichi Suzumori, Junichi Tanaka,
and Takefumi Kanda

Okayama University, 3-1-1 Tsushima-naka, Okayama 700-8530, Japan

Received:
October 21, 2004
Accepted:
March 11, 2005
Published:
June 20, 2005
Keywords:
haptic interface, physical man-machine interaction (PMI), active link, virtual clay
Abstract

We have been developing active links for physical man-machine interaction, targeting the presentation of 3D continuous surfaces. We developed an active tetrahedron and an active icosahedron. To design prototypes, we geometrically analyzed the active link to clarify restraints. The active tetrahedron consists of four new spherical joints and six pneumatic cylinders combined with a commercially available mechanical simulator to realize realtime man-machine interaction. The active icosahedron consists of 30 intelligent pneumatic cylinders and 12 spherical joints. The intelligent cylinder developed for the active icosahedron has a microoptical encoder. We applied the active icosahedron to virtual clay modeling, demonstrating its potential as a practical haptic interface.

Cite this article as:
Jumpei Ochi, Koichi Suzumori, Junichi Tanaka, and
and Takefumi Kanda, “Development of Active Links for Physical Man-Machine Interaction,” J. Robot. Mechatron., Vol.17, No.3, pp. 293-301, 2005.
Data files:
References
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