Development of Encountered-type Haptic Interface that can Independently Control Volume and Rigidity of 3D Virtual Object

Abstract

This paper describes the development of an encountered-type haptic interface that can independently present the physical characteristics of 3D virtual objects, such as shape and rigidity, in the real world. This interface consists of nonexpandable balloons, syringe pumps, pressure sensors, linear actuators, and a PC. To change the rigidity of the balloon, the volume of air in the balloon is controlled by using a linear actuator and a pressure sensor based on Hooke's law. Furthermore, to change the volume of the balloon, the exposed surface area of the balloon is controlled by using another linear actuator with a trumpet-shaped tube. Performance tests of the system were conducted, and the effectiveness of the proposed interface was verified.