Development of Active Links for Physical Man-Machine Interaction

Jumpei Ochi; Koichi Suzumori; Junichi Tanaka; Takefumi K; a

doi:10.20965/jrm.2005.p0293

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JRM Vol.17 No.3 pp. 293-301

doi: 10.20965/jrm.2005.p0293

(2005)

Paper:

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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:

J. Ochi, K. Suzumori, J. Tanaka, and T. Kanda, “Development of Active Links for Physical Man-Machine Interaction,” J. Robot. Mechatron., Vol.17 No.3, pp. 293-301, 2005.

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References

[1] T. H. Massie, and J. K. Salisbury, “The PHANTOM haptic interface: A device for probing virtual objects,” Proceedings of the ASME Winter Annual Meeting, Symposium on Haptic Interfaces for Vitual Environment and Teleoperator Systems, Chicago, IL, Nov. 1994.
[2] P. J. Berkelman, Z. J. Butler, and R. L. Hollis, “Design of a Hemispherical Magnetic Levitation Haptic Interface Device,” 1996 ASME IMECE, Atlanta, November 17-22, 1996, DSC-Vol.58, pp. 483-488, 1996.
[3] C. D. Lee, D. A. Lawrence, and L. Y. Pao, “Dynamic Modeling and Parameter Identification of a Parallel Haptic Interface,” Proc. 10th Annual Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, IEEE Virtual Reality Conference, Orlando, FL, Mar. 2002
[4] http://www.forcedimension.com/fd/avs/home/
[5] V. Daniulaitis, M. O. Alhalabi, H. Kawasaki, Y. Tanaka, and T. Hori, “Medical Palpation of Deformable Tissue using Physics-Based Model for Haptic Interface Robot (HIRO),” Proceedings of the 2004 IEEE International Conference on Robotics & Automation, Sendai, Japan, pp. 3907-3911, 2004.
[6] H. Iwata, H. Yano, F. Nakaizumi, and R. Kawamura, “Project FEELEX: Adding haptic surface to graphics,” in Proceedings of SIGGTSPH2001, 2001.
[7] P. Bosscher, and I. Ebert-Uphoff, “Digital Clay: Architecture Disigns for Shape-Generating Mechanism,” Proceedings of the 2003 IEEE International Conference on Robotics & Automation, Taipei, Taiwan, pp. 834-841, 2003.
[8] U. Spaelter, T. Moix, D. Llic, M. Bajka, and H. Bleuler, “A 4-dof Haptic Device for Hysteroscopy Simulation,” Proceedings of the 2004 IEEE International Conference on Robotics & Automation, Sendai, Japan, pp. 3257-3263, 2004.
[9] J. Ochi, K. Suzumori, T. Kanda, T. Hashimoto, and J. Tanaka, “Active Link Mechanisms for Physical Man-machine Interaction,” Proceedings of the 2004 IEEE International Conference on Robotics & Automation, Sendai, Japan, pp. 3895-3900, 2004.
[10] K. Suzumori, T. Kanda, T. Hashimoto, J. Ochi, and K. Kosaka, “Electric Drive Tetrahedron for Physical Man-machine Interaction (5th report: Development of the active polyhedron by electric drive),” Proceedings of The 22nd Annual Conference of The Robotics Society of Japan, Gifu, Japan, pp. 150-152, 2004 (in Japanese).

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] T. H. Massie, and J. K. Salisbury, “The PHANTOM haptic interface: A device for probing virtual objects,” Proceedings of the ASME Winter Annual Meeting, Symposium on Haptic Interfaces for Vitual Environment and Teleoperator Systems, Chicago, IL, Nov. 1994.

[2] [2] P. J. Berkelman, Z. J. Butler, and R. L. Hollis, “Design of a Hemispherical Magnetic Levitation Haptic Interface Device,” 1996 ASME IMECE, Atlanta, November 17-22, 1996, DSC-Vol.58, pp. 483-488, 1996.

[3] [3] C. D. Lee, D. A. Lawrence, and L. Y. Pao, “Dynamic Modeling and Parameter Identification of a Parallel Haptic Interface,” Proc. 10th Annual Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, IEEE Virtual Reality Conference, Orlando, FL, Mar. 2002

[4] [4] http://www.forcedimension.com/fd/avs/home/

[5] [5] V. Daniulaitis, M. O. Alhalabi, H. Kawasaki, Y. Tanaka, and T. Hori, “Medical Palpation of Deformable Tissue using Physics-Based Model for Haptic Interface Robot (HIRO),” Proceedings of the 2004 IEEE International Conference on Robotics & Automation, Sendai, Japan, pp. 3907-3911, 2004.

[6] [6] H. Iwata, H. Yano, F. Nakaizumi, and R. Kawamura, “Project FEELEX: Adding haptic surface to graphics,” in Proceedings of SIGGTSPH2001, 2001.

[7] [7] P. Bosscher, and I. Ebert-Uphoff, “Digital Clay: Architecture Disigns for Shape-Generating Mechanism,” Proceedings of the 2003 IEEE International Conference on Robotics & Automation, Taipei, Taiwan, pp. 834-841, 2003.

[8] [8] U. Spaelter, T. Moix, D. Llic, M. Bajka, and H. Bleuler, “A 4-dof Haptic Device for Hysteroscopy Simulation,” Proceedings of the 2004 IEEE International Conference on Robotics & Automation, Sendai, Japan, pp. 3257-3263, 2004.

[9] [9] J. Ochi, K. Suzumori, T. Kanda, T. Hashimoto, and J. Tanaka, “Active Link Mechanisms for Physical Man-machine Interaction,” Proceedings of the 2004 IEEE International Conference on Robotics & Automation, Sendai, Japan, pp. 3895-3900, 2004.

[10] [10] K. Suzumori, T. Kanda, T. Hashimoto, J. Ochi, and K. Kosaka, “Electric Drive Tetrahedron for Physical Man-machine Interaction (5th report: Development of the active polyhedron by electric drive),” Proceedings of The 22nd Annual Conference of The Robotics Society of Japan, Gifu, Japan, pp. 150-152, 2004 (in Japanese).

Development of Active Links for Physical Man-Machine Interaction

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

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