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http://dx.doi.org/10.5302/J.ICROS.2004.10.11.1044

Design of a Virtual Walking Machine for Virtural Reality Interface  

윤정원 (광주과학기술원 기전공학과)
류제하 (광주과학기술원 기전공학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.10, no.11, 2004 , pp. 1044-1051 More about this Journal
Abstract
This paper described a novel locomotion interface that can generate infinite floor for various surface, named as virtual walking machine. This interface allows users to participate in a life-like walking experience in virtual environments, which include various terrains such as plains, slopes and stair ground surfaces. The interface is composed of two three-DOF (X, Y, Yaw) planar devices and two four-DOF (Pitch, Roll, Z, and relative rotation) footpads. The planar devices are driven by AC servomotors for generating fast motions, while the footpad devices are driven by pneumatic actuators for continuous support of human weight. To simulate natural human walking, the locomotion interface design specification are acquired based on gait analysis and each mechanism is optimally designed and manufactured to satisfy the given requirements. The designed locomotion interface allows natural walking(step: 0.8m, height: 20cm, load capability: 100kg, slope:30deg) for various terrains.
Keywords
locomotion interface; walking machine; parallel robot; virtual environment; haptics;
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Times Cited By KSCI : 1  (Citation Analysis)
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