抄録
The goal of this research is to develop a new type of interface for realizing Physical Human-Machine Interaction. In this research, we have developed a haptic interface that named "Active polyhedron". Active Polyhedron can treat the virtual three dimension continuum having many force output points. In previous report, we have developed a compact intelligent pneumatic cylinder and constructed Active 80-faced Polyhedron using the 120 cylinders. In this report, we developed communication and control system to control input-output data between PC and 120 cylinders was confirmed. Two experiments were carried out by using developed communication control system, which are shape input experiment and compliance changing experiment. In shape input experiment, inputting shape information of the Active 80-faced Polyhedron to PC is realized. On the other hand, compliance changing experiment establishes stiffness function by changing stiffness coefficient of each cylinder where the operator can feel its difference.
