フィジカルマンマシンインタラクション用アクティブ多面体の開発

抄録

The goal of this research is development of Active Link Mechanisms for Physical man-machine interaction. Active link mechanisms allow to present three dimensional deformation of a virtual model. In order to realize active link mechanisms, we fabricated an intelligent cylinder, which equips inner sensor to detect the piston position. Active icosahedron consists of newly developed intelligent cylinders. A virtual model as interaction target is configured with Mass-Spring-Damper model. The virtual model behavior is obtained by solving differential equation of mass spring damper models. In the interaction experiment between a virtual model and an operator, the active link mechanisms showed their potential as a practical haptic interface.