Basic study on bilateral swinging interaction by moving a chair together

Several researches focused on haptic interactions have advanced so far. Many of such communication tools were designed for actions of specific body part such as upper arm. Therefore in the current work, authors devised a novel interaction system in which people can interact with each other by swinging their whole bodies such as using a rocking chair. The swinging interaction system is constructed based on trapezoidal-shape linkage mechanism embedding direct drive motor inside, and the system can drive based on various control methods. Then authors investigated and discussed the feature of behaviors dependent on control methods.