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2 報：アクティブ二十面体の開発)

摘要

We have developed active link mechanisms for physical man-machine interaction. In this paperan active icosahedron is reported. At first,possible actions of icosahedron are discussed using a conceptualmodel to show usefulness of the icosahedron. The active link mechanism consists of 30 pneumatic cylinders,fifteen D.O.F. micro flexible joints, micro air tubes and micro pneumatic connectors. The pneumatic solenoidvalves are controlled based on the values calculated in Visual Nastran 4D to control the pressure to cylinders.