Active link mechanism for physical man-machine interaction

In this paper, newly developed interface devices, which realize physical man-machine interaction (PMI) between machines and persons, are reported. Developed interface devices are an active tetrahedron and an active icosahedron realizing PMI. Nine-DOF micro spherical joints and pressure control pneumatic cylinders were developed to realize the active tetrahedron, while fifteen-DOF micro spherical joints are developed for active icosahedron. The tetrahedron successfully realizes "virtual touch"; the operators feel actions, forces, and shapes of the virtual objects in PC and also move and deform them. Real time PMI is realized by using MSC.VisualNastran 4D. MSC.VisualNastran 4D is a mechanism analysis software, which can make motion analysis in real time. The active icosahedron realized to present shape of virtual object in PC simulated by MSC.VisualNastran 4D, showing the potential of the devices as haptic interface.