• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.539-539
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• 2000

This paper shows how to implement force reflection for a needle insertion problem. The target is a needle spine biopsy simulator for tumor inspection by needle insertion. Simulated force is calculated from the relationship of volume graphic data and the orientation and Position of the needle, and it is generated using PHANTOM$^{TM}$. To generate realistic force reflection, the directional force of the needle has been generated by tissue model. The other rotational force is generated using a pivot to keep the needle in the initial inserted direction after puncturing the skin. Since the used haptic device has limitation for generating high stiffness and large damping, scale downed model and digital filter are used to stabilize the system.m.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.1
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• pp.63-72
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• 2003

A new 6-DOF parallel haptic device is proposed. Many existing haptic devices require large power due to having floating actuator and also have small workspaces. The proposed new mechanism can generate 6-DOF reflecting force. This device is relatively light by employing non-floating actuators and has large workspace. Kinematic analysis and kinematic optimal design is performed for this mechanism. Dexterous workspace, global isotropic index, and global maximum force transmission ratio are considered as kinematic design indices. To deal with such multi-criteria optimization problem. composite design index is employed. For the given operational specifications, actuator sizing for this mechanism is also carried out.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.12
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• pp.1207-1212
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• 2007

We propose a haptic interface algorithm for joystick operators working in remote control systems of unmanned vehicles. The haptic interface algorithm is implemented using a force-feedback joystick, which is equipped with low price DC motors without encoders. Generating specific amounts of forces on the joystick pole according to the distance between a remote controlled vehicle and obstacles, the haptic interface enables the operator to perceive the distance information by the sense of touch. For the case of no joystick operation or no obstacles in the working area, we propose an origin control algorithm, which positions the joystick pole at the origin. The origin control algorithm prevents the false movement of the remote vehicles and provides the operator with a realistic force resisting the joystick pole's movement. The experiment results obtained under various scenarios exemplify the validity of the proposed haptic interface algorithm and the origin control algorithm.

• 한국HCI학회:학술대회논문집
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• 2008.02a
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• pp.85-90
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• 2008

This paper describes the human body learning system using the multi-modal user interface. Through our learning system, students can study about human anatomy interactively. The existing learning methods use the one-way materials like images, text and movies. But we propose the new learning system that includes 3D organ surface models, haptic interface and the hierarchical data structure of human organs to serve enhanced learning that utilizes sensorimotor skills.

• 한국HCI학회:학술대회논문집
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• 2006.02a
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• pp.230-237
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• 2006

본 논문은 스포츠 방송의 몰입감 증대를 위한 진동촉감 제시 시스템 및 장치를 제안하며, 촉감 정보를 효과적으로 전달하기 위한 촉감제시 방법론 및 제어 알고리즘을 제안한다. 최근 디지털 컨텐츠의 전달에 있어 오감을 통한 정보 전달의 관심이 증대됨에 따라, 대중을 대상으로 다양한 정보를 전달하는 디지털 매체에서의 시청각과 더불어 촉감 제시의 역할과 중요성이 증대되었다. 따라서 본 논문에서는 실시간으로 동적인 현장 상황을 실감 있게 전달하는 스포츠 방송에서의 햅틱 효과와 역할 그리고 가능한 시나리오를 정의하고, 진동촉감 제시 장비를 설계하여 촉감 정보 표현에 대한 기초 연구를 수행하였다. 또한 제안된 촉감을 이용한 스포츠 방송 시나리오 중 축구 방송을 기반으로 사용자 촉감 인지 실험을 수행하였으며, 실험 결과를 바탕으로 축구 방송 시스템을 구축하여 실감방송 전시회 시연을 통해 진동촉감 시스템 및 촉감 제시 방법론을 검증하였다. 촉감이 인간의 오감 중 시청각 다음으로 정보를 인지하는 중요한 감각 체계인 만큼 많은 양의 정보를 대중에게 전달하는 방송 시스템에서 시청각과 더불어 효과적인 정보 전달 체계로써 기여할 것이라고 여겨진다.

• Science of Emotion and Sensibility
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• v.11 no.2
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• pp.227-234
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• 2008

Graphic and sounds are mainly used for presenting digital content as general. It has been reported that the reality of digital contents was improved by adding haptic factor to the contents of graphic and sounds. Therefore, various haptic system have recently been developed for implementing haptic sensation into digital contents. However, the delay of haptic display sometimes happens due to low hardware performance and causes to deteriorate reality of digital contents. The delay effect on reality has been important to be determined for presenting digital contents with haptic system. Therefore, this study is to find the effect on user's cognition of digital contents evoking both visual and haptic sensation. Eight university students performed 4 repetitive tasks of pushing cube under the two conditions of visual and haptic delay. The delay time of each condition were set 0.5, 1.0, 2.0 and 4.0 second. As the result, both haptic and visual delay were negatively influenced user's recognition while visual delay showed more dominant effect on user's recognition than haptic delay.

• Journal of the Korea Society of Computer and Information
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• v.16 no.4
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• pp.225-233
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• 2011

In this paper, we propose a remote control station based on the awareness of various combat field situation in order for operating multiple unmanned ground vehicles. Our remote control station is capable of sending a variety of messages designed for carrying out the skillful movement for collaborate among unmanned ground vehicles, gathering the information related with combat field situation, and completing the assigned missions which are described by operator in advance. To verify the effectiveness of our proposal, we develop the sophisticated remote control station and conduct a great many remote operating tests for multiple unmanned ground vehicles.

• 한국HCI학회:학술대회논문집
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• 2009.02a
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• pp.2078-2079
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• 2009

This research suggests the framework for human body learning system using various forms of bidirectional interfaces. The existing systems mostly use the limited and unidirectional methods which are merely focused on the visual information. Our system provides more realistic visual information using 3D organ models from the real human body. Also we combine the haptic and augmented reality techniques into our system for wider range of interaction means. Through this research, we aim to overcome the limitation of existing science education systems and explore the effective scheme to fuse the real and virtual educational environment into one.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2009.11a
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• pp.371-374
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• 2009

가상 현실과 현실 세계가 공존하는 증강 현실은 현재 및 향후 실감미디어 콘텐츠에 중요한 역할을 할 것으로 기대된다. 증강 현실은 게임, 엔터테인먼트, 교육 분야 등에서 응용에 따라 다양한 기술들의 결합이 요구된다. 본 논문에서는 교육적 효과를 주는 버블 포핑 증강 현실 기법을 제안한다. 버블 포핑 시스템은 비디오 입력용 웹캠, 마커 패턴 영상, 그래픽 구 버블 객체, 그래픽 마우스 등으로 구성된다. 일반 마우스의 이동에 따라 그래픽 마우스가 3차원 공간상에서 이동하면서 버블과의 충돌이 발생하게 되면, 충돌시 발생하는 버블의 이벤트로 동적 움직임, 터짐 등의 버블 효과를 구현할 수 있는 방법을 제안한다. 충돌 검출은 카메라와 마커 패턴의 좌표계 및 버블의 3차원 공간위치, 그리고 3차원 모델 데이터를 이용하여 구현한다. 제안 시스템은 ARToolkit을 기반으로 제작되었으며, 시각적인 마커 기반 시스템으로 버블의 움직임과 사용자의 인터랙션을 통해, 버블 포핑의 증강현실을 전달한다. 향후, 현재 개발 중인 포스 피드백 기능이 있는 진동촉각공간 햅틱 마우스와 접목하여 보다 실감적인 증강현실 기술을 개발할 예정이다.

• Journal of Advanced Marine Engineering and Technology
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• v.33 no.8
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• pp.1196-1202
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• 2009

In this paper, an estimator design of underwater environment changes is proposed by using observer techniques for ROV control system. The underwater environment changes are considered as an external disturbance term for ROV model and it is added into the input term of ROV model. To estimate the environment changes, a PI observer which does not effect the external disturbance input term is proposed. To verify the effectiveness of the proposed method, the step and the sinusoidal environment changes are considered in simulation. The proposed method will be applied to design the haptic controller for ROV in future.