Development of Pneumatic Human Interface and its Application to Compliance Display

Masahiro Takaiwa and Toshiro Noritsugu

Faculty of Engineering, Okayama University, 3-1-1 Tsushimanaka Okayama Japan

Received:

May 2, 2001

Accepted:

June 6, 2001

Published:

October 20, 2001

Keywords:

pneumatic serro system, parallel manipulator, human interface, air compressibility, elastic characteristic

Abstract

The goal of this study is to develop a human interface that can display compliance for human hand aiming at the application in the field of virtual reality. Pneumatic parallel manipulator is introduced as a driving mechanism of our human interface, consequently, which yields characteristic that the manipulator works as a kind of elastic body even when its position/orientation is under the control. Using this elastic characteristic, a compliance display scheme is proposed. The validity of the proposed scheme is verified experimentally.

Cite this article as:

M. Takaiwa and T. Noritsugu, “Development of Pneumatic Human Interface and its Application to Compliance Display,” J. Robot. Mechatron., Vol.13 No.5, pp. 472-478, 2001.

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