DocumentCode :
3352863
Title :
Design and analysis of a novel virtual walking machine
Author :
Yoon, Jungwon ; Ryu, Jeha ; Burdea, Grigore
Author_Institution :
Dynamics & Control Lab., Kwangju Inst. of Sci. & Technol., South Korea
fYear :
2003
fDate :
22-23 March 2003
Firstpage :
374
Lastpage :
381
Abstract :
This paper proposes a new locomotion haptic interface, the Virtual Walking Machine (VWM) that can simulate human walking more naturally. The VWM allows walking in a virtual environment with uneven terrain, which can improve immersiveness significantly. The proposed system is composed mainly of: (i) a fifteen degree-of-freedom hybrid parallel mechanism that allows relative rotation between toe and heel, omni-directional rotation, and natural walking distance, (ii) Pulse Width Modulation (PWM) driven pneumatic actuators for vertical motion and servo-motors for planar motion, (iii) sensors that allow motion detection. Design requirements on natural walking are analyzed and used in conjunction with kinematic analyses to optimally design the proposed VWM.
Keywords :
actuators; force feedback; haptic interfaces; interactive devices; legged locomotion; virtual reality; Pulse Width Modulation; haptic devices; kinematic analysis; locomotion haptic interface; motion detection; natural walking distance; omni-directional rotation; planar motion; pneumatic actuators; sensors; servo-motors; uneven terrain; vertical motion; virtual reality; virtual walking machine; Haptic interfaces; Humans; Kinematics; Legged locomotion; Motion detection; Pneumatic actuators; Pulse width modulation; Sensor systems; Space vector pulse width modulation; Virtual environment;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2003. HAPTICS 2003. Proceedings. 11th Symposium on
Print_ISBN :
0-7695-1890-7
Type :
conf
DOI :
10.1109/HAPTIC.2003.1191316
Filename :
1191316
Link To Document :
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