Force-presentation method for active polyhedron for realizing physical human-machine interaction

Hiroshi Ogawa, Kazuyoshi Kosaka, Koichi Suzumori, Takefumi Kanda

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

4 Citations (Scopus)

Abstract

The goal of this research is to develop a new type of haptic interface termed "Active Polyhedron", which realizes a physical human-machine interaction with virtual continuum objects in PCs. Active polyhedrons are polyhedron-shaped linkage mechanisms. In this paper, we deal with an active icosahedron consisting of 30 intelligent cylinders, which were specially developed for this purpose. In previous reports, the mechanism and kinematics of an active icosahedron and a simple force-presentation method using on/off pneumatic valves were given. In this report, a new force-presentation pneumatic-control system using pressure-control valves, which allows a highly accurate force presentation capable of handling complex continuum objects, and a new force-presentation algorithm, which applies to an apex of the polyhedron are described. These were applied to the active icosahedron. The experimental results showed that the active icosahedron was successful in realizing physical human-machine interaction, with which operators could change the shape, feel and compliance of virtual objects in a PC as if they actually touched them.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages3941-3947
Number of pages7
Volume2006
DOIs
Publication statusPublished - 2006
Event2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States
Duration: May 15 2006May 19 2006

Other

Other2006 IEEE International Conference on Robotics and Automation, ICRA 2006
CountryUnited States
CityOrlando, FL
Period5/15/065/19/06

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Keywords

  • Force-presentation
  • Haptic interface
  • Human-machine interaction
  • Pneumatic actuator
  • Virtual reality

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Ogawa, H., Kosaka, K., Suzumori, K., & Kanda, T. (2006). Force-presentation method for active polyhedron for realizing physical human-machine interaction. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 2006, pp. 3941-3947). [1642306] https://doi.org/10.1109/ROBOT.2006.1642306