Contactless object manipulation using multiple air jets on planar surface (Experimental case studies for small control range with continuous air jets)

We propose a technology for manipulating the position and attitude of an object on a planar surface in a contactless manner. This technology involves multiple ejectors that stream jets of compressed air onto an object from various directions. By regulating air jet directions and volumes, the object can be actively "force closured" and its position and attitude can be manipulated freely. As the first step of this research, we discuss the fundamental ideas and the technological challenges as a manipulation method. Next we provide a preliminary investigation with one degree-of-freedom experimental system. Based on this, we examine two DOF system with three air jets and finally three DOF system with four air jets.