Active link mechanism for physical man-machine interaction

Author

Ochi, Jumpei ; Hashimoto, Tatsuya ; Suzumori, Koikhi ; Kanda, TakefumiK

Author_Institution

Dept. of Syst. Eng., Okayama Univ., Japan

fYear

2003

fDate

19-22 Oct. 2003

Firstpage

141

Lastpage

146

Abstract

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.

Keywords

haptic interfaces; man-machine systems; pressure control; virtual reality; MSC.VisualNastran 4D; active icosahedron; active link mechanism; active tetrahedron; haptic interface; interface device; mechanism analysis software; microspherical joints; motion analysis; physical man-machine interaction; pneumatic cylinders; pressure control; virtual objects; virtual touch; Connectors; Engine cylinders; Haptic interfaces; Man machine systems; Mice; Modeling; Motion analysis; Pressure control; Shape; Systems engineering and theory;

fLanguage

English

Publisher

ieee

Conference_Titel

Micromechatronics and Human Science, 2003. MHS 2003. Proceedings of 2003 International Symposium on

Print_ISBN

0-7803-8165-3

Type

conf

DOI

10.1109/MHS.2003.1249923

Filename

1249923