Title :
Development of pneumatic human interface and its application for compliance display
Author :
Takaiwa, Masahiro ; Noritsugu, Toshira
Author_Institution :
Fac. of Eng., Okayama Univ., Japan
Abstract :
The goal of this study is to develop a human interface that can display compliance for a human hand aiming at application in the field of virtual reality. A pneumatic parallel manipulator is introduced as a driving mechanism of the human interface, which yields the characteristic that the manipulator works as a kind of elastic body even when its position/orientation is under the control. Utilizing this elastic characteristic, a compliance display scheme is proposed. The validity of the proposed scheme is verified experimentally
Keywords :
compliance control; haptic interfaces; manipulators; position control; pressure control; virtual reality; compliance display; elastic body; elastic characteristic; orientation control; pneumatic human interface; pneumatic parallel manipulator; position control; virtual reality; Circuits; Computer displays; Engine cylinders; Face; Fingers; Humans; Instruments; Pneumatic actuators; Pulse width modulation; Virtual reality;
Conference_Titel :
Industrial Electronics Society, 2000. IECON 2000. 26th Annual Confjerence of the IEEE
Conference_Location :
Nagoya
Print_ISBN :
0-7803-6456-2
DOI :
10.1109/IECON.2000.972226
