2A1-I04 フィジカルヒューマンマシンインタラクション用アクティブ多面体の研究 : 空圧インテリジェントアクチュエータの開発と120自由度リンク機構の構築(パラレルロボット・メカニズム)

概要

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The purpose of this research is to develop a haptic interface that realizes a human-machine interaction at many force output points. We have reported in the previous paper a haptic interface that named "Active polyhedron" having 12 force output points. In this report, we aim to develop a new active polyhedron having 42 force output points. To realize the new active polyhedron, we develop a new intelligent pneumatic cylinder on which a micro optical encoder and PSoC are mounted and two kinds of link-joints that connect each cylinder mutually. Developed active polyhedron realizes a 120-DOF link mechanism with position / compliance controller.
一般社団法人日本機械学会の論文
2008-06-06