Development of Active 80-faced Polyhedron for haptic physical human-machine interface

The goal of this research is to realize a new type of physical human-machine interface. In this research, active polyhedron can treat virtual three dimensional continuums having many force output points. Active 80-faced polyhedron can treat virtual objects that are more complex than active icosahedron which was previously developed. Towards realizing the overall hardware parts, 120 pieces of new and compact intelligent pneumatic cylinder with length measurement and communication function are designed and constructed. Communication and control system to control input-output data between PC and 120 cylinders was confirmed. Three experiments were carried out, which are position control of the cylinder, shape input experiments and spring motion experiments. In the shape input experiments, inputting shape information of the active 80-faced polyhedron to PC is realized. On the other hand, the spring motion experiments establish the stiffness function by changing stiffness coefficient of each intelligent cylinder where the operator can feel its difference. Both experimental results show the effectiveness of the active polyhedron for a new human machine interface.