Contactless active force closure manipulation using multiple air jets

We propose a technology for manipulating the position and attitude of an object in a contactless manner over an extended range. 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, in this paper, we discuss its potential future applications, and summarize the technological challenges for this technology. Next we provide a preliminary investigation with one degree-of-freedom planar experimental system. Based on this investigation, we examine problems relating to the use of three air nozzles to control the position of a cylindrical object in two degrees of planar freedom.