Development of active polyhedron for physical human-machine interaction and its application to CAD/CAM operation

Hiroshi Ogawa, Kazuyoshi Kosaka, Koichi Suzumori, Takefumi Kanda

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

The goal of this research is a development of a new haptic interface realizing Physical Human-Machine Interaction. The new haptic interface termed Active Polyhedron is devised. Active Polyhedron can display force on multi-point, making this device realize operation to complex continuum. In this report, the active icosahedron, which is one of Active Polyhedron and pneumatically-driven, is developed. The active icosahedron consists of 30 pneumatic cylinders which have position sensor. In previous research, position-control algorithm and force-control algorithm were reported. Position-control algorithm computes positions of active icosahedron's apex based on displacements of link-length. Force-control algorithm computes output-forces on cylinder based on output-forces on apexes. Applying these algorithms, active icosahedron can realize input-position and output-force. We develop a new type of an application, which is 3D-CAD/CAM operation. In this application, an operator can perform advanced-design to generate commonly used CAD/CAM data, using the active icosahedron. At the same time, the operator feels stiffness of the model as if he touches to it. As a result, finer and more complex design is able to be performed.

Original languageEnglish
Title of host publication2006 IEEE International Symposium on Micro-Nano Mechanical and Human Science, MHS
DOIs
Publication statusPublished - Dec 1 2006
Event2006 IEEE International Symposium on Micro-Nano Mechanical and Human Science, MHS - Nagoya, Japan
Duration: Nov 5 2006Nov 8 2006

Publication series

Name2006 IEEE International Symposium on Micro-Nano Mechanical and Human Science, MHS

Other

Other2006 IEEE International Symposium on Micro-Nano Mechanical and Human Science, MHS
CountryJapan
CityNagoya
Period11/5/0611/8/06

ASJC Scopus subject areas

  • Computational Mechanics
  • Control and Systems Engineering
  • Human Factors and Ergonomics

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    Ogawa, H., Kosaka, K., Suzumori, K., & Kanda, T. (2006). Development of active polyhedron for physical human-machine interaction and its application to CAD/CAM operation. In 2006 IEEE International Symposium on Micro-Nano Mechanical and Human Science, MHS [4110345] (2006 IEEE International Symposium on Micro-Nano Mechanical and Human Science, MHS). https://doi.org/10.1109/MHS.2006.320334