1P1-D19 フィジカル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 : 第8報 : 反力呈示アルゴリズムの開発とヴァーチャルオブジェクトの加工応用実験

Abstract

The goal of this research is to develop a new type of haptic interface termed "Active Polyhedron." The interface realizes a physical man-machine interaction with virtual continuum objects in PCs. Active polyhedrons are polyhedron-shaped linkage mechanisms. In this paper, we deal with an active icosahedron consisting of 30 intelligent cylinders, which have position sensor. In previous reports, the active icosahedron system was developed, and realized easy force presentation. In this report, we develop a new algorithm for Active Polyhedron's force-presentation. The algorithm is based on calculation of force which an apex outputs. Applying this algorithm to the active icosahedron, an operator could get force information from active icosahedron. And a new application for Active icosahedron is developed. The application is to design 3D-CAD shape data using Active icosahedron. Actually, the designed data is cut by 3D processing machine.