• Journal of the Korea Computer Graphics Society
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• v.14 no.2
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• pp.1-8
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• 2008

This paper presents a design of a situation training system supporting mixed-reality for the developmental disabled. The training scenario is developed for the disabled to improve the sense of sight and perception. The user sticks a virtual pin into a hole in the working board according to the direction and the appropriate feedback is delivered based on the FSM(Finite State Machine). In order to improve the reality and the training effect, the user's hand is inserted in the virtual training environments and the tactile sensation is provided using the haptic device.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.22 no.3
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• pp.284-290
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• 2012

In this research, a new type of haptic master device using electrorheological(ER) fluid for minimally invasive surgery(MIS) is devised and control performance of the proposed haptic master is evaluated. The proposed haptic master consists of ER bi-directional clutch/brake for 2 DOF rotational motion(X, Y) using gimbal structure and ER brake on the gripper for 1 DOF rotational motion (Z). Using Bingham characteristic of ER fluid and geometrical constraints, principal design variables of the haptic master are determined. Then, the generation of torque of the proposed master is experimentally evaluated as a function of applied field of voltage. A sliding mode controller which is robust to uncertainties is then designed and empirically realized. It has been demonstrated via experiment that the proposed haptic master associated with the controller can be effectively applied to MIS in real field conditions.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.19 no.5
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• pp.516-522
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• 2009

This paper proposes a new haptic cue vehicle accelerator pedal device using magnetorheological(MR) brake. As a first step, an MR fluid-based haptic cue device is devised to be capable of rotary motion of accelerator pedal. Under consideration of spatial limitation, design parameters are optimally determined to maximize control torque using finite element method. The proposed haptic cue device is then manufactured and integrated with accelerator pedal. Its field-dependant torque is experimentally evaluated. Vehicle system emulating gear shifting and engine speed is constructed in virtual environment and communicated with the haptic cue device. Haptic cue algorithm using the feed-forward control algorithm is formulated to achieve optimal gear shifting in driving. Control performances are experimentally evaluated via feed-forward control strategy and presented in time domain.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2007.11a
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• pp.387-392
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• 2007

The paper presents control performance of a magnetorheological (MR) fluid-based haptic knob which is applicable to invehicle comfort functions. As a first step, MR fluid-based haptic knob is devised to be capable of both rotary and push motions with a single device. Under consideration of spatial limitation, design parameters are optimally determined to minimize a reciprocal of control torque using finite element analysis. The proposed haptic knob is then manufactured and its fielddependent torque is experimentally evaluated. Subsequently, in-vehicle comfort functions are constructed in virtual environment and make them communicate with the haptic knob. Control performances such as reflection force are experimentally evaluated via simple feed-forward control strategy.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.18 no.3
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• pp.307-314
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• 2008

The paper presents control performance of a magnetorheological(MR) fluid-based haptic knob which is applicable to in-vehicle comfort functions. As a first step, MR fluid-based haptic knob is devised to be capable of both rotary and push motions with a single device. Under consideration of spatial limitation, design parameters are optimally determined to minimize a reciprocal of control torque using finite element analysis. The proposed haptic knob is then manufactured and its field-dependent torque is experimentally evaluated. Subsequently, in-vehicle comfort functions are constructed in virtual environment and make them communicate with the haptic knob. Control performances such as reflection force are experimentally evaluated via simple feed-forward control strategy.

• The Journal of Korean Institute for Practical Engineering Education
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• v.5 no.1
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• pp.40-44
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• 2013

This paper suggests a multimodal interface control module which allows a student to naturally interact with educational contents in virtual environment. The suggested module recognizes a user's motion when he/she interacts with virtual environment and then conveys the user's motion to the virtual environment via wireless communication. Futhermore, a haptic actuator is incorporated into the proposed module in order to create haptic information. Due to the proposed module, a user can haptically sense the virtual object as if the virtual object is exists in real world.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2009.04a
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• pp.627-632
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• 2009

This paper proposes a new haptic cue vehicle accelerator pedal device using magnetorheological (MR) brake. As a first step, an MR fluid-based haptic cue device is devised to be capable of rotary motion of accelerator pedal. Under consideration of spatial limitation, design parameters are optimally determined to maximize control torque using finite element method. The proposed haptic cue device is then manufactured and integrated with accelerator pedal. Its field-dependant torque is experimentally evaluated. Vehicle system emulating gear shifting and engine speed is constructed in virtual environment and communicated with the haptic cue device. Haptic cue algorithm using the feed-forward control algorithm is formulated to achieve optimal gear shifting in driving. Control performances are experimentally evaluated via feed-forward control strategy and presented in time domain.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.10 no.4
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• pp.77-82
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• 2010

In this paper, a haptic fishing robot, Fishbot, for a Virtual Fishing System is presented. Fishbot is 3DOF robot and it consists of a XY table and a wheel motor. To simulate the motion of fish, XY table is controlled by position servo drivers with variable torque constraint, and wheel axis is controlled by torque servo driver. Finally, Fishibot detects the end point of fishing pole with cameras to recognize the pose of user, and it can interface with a Virtual Reality System.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2010.06a
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• pp.304-304
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• 2010

최근 생활에 편리하며 휴대하기 좋은 전자기기들이 개발되고 있다. 휴대폰이나 MP3와 같은 전자기기들은 거의 필수품이라고 할 정도로 우리의 일상생활에 근접하여 있다. 그 종 대표적으로 휴대폰의 종류로 스마트폰과 같은 터치스크린을 이용한 사례는 점차 상승하고 있으며 시간이 지날수록 그 수요는 더욱 많아지고 있다. 때문에 몰입감 제공을 위하여 햅틱장치의 채용이 일반화 되고 있다. 햅틱장치란 가상환경이나 원거리에 있는 환경과 사용자가 상호 작용할 때 사용자에게 촉감이나 힘의 정보를 전달하여 주는 장치로 진동 및 회동 저항에 의해 사용자로 하여금 촉감들 느낄 수 있도록 하는 장치를 뜻한다. 즉, 현실감을 전달을 중점으로 하는 햅틱장치는 빠른 응답 속도와, 진동의 주파수와 크기는 독립적으로 제어가 가능해야 하며 기계적 수용기들을 직접적으로 자극할 수 있어야 한다. 하지만 모바일 햅틱장치의 경우 크기 및 소비전력의 문제로 모든 스펙을 만족하기에는 어려워 좀 더 한정적인 느낌을 제공할 수 없다. 현재까지 모바일 장치에서 햅틱 피드백을 위하여 진동모터나, 솔레노이드, 압전 액츄에이터 등이 많이 사용되어 지고 있다. 그 중 압전 액츄에이터는 입력에너지를 기계적 출력에너지로 변환되는 효과를 이용 한 것으로 압력 센서, 초음파 센서 등 많은 분야에서 응용되고 있으며 변위 범위는 작지만, 크기가 매우 작고 변위 정밀도가 높으며 발생력과 응답속도가 빠르다는 장점이 존재한다. 이를 이용한 햅틱 압전 엑츄에이터의 제작에 사용되는 압전 세라믹스는 높은 전기적 특성을 가질수록 더 졸은 효율을 가지며 이로 인하여 보다 좋은 전기적 특성을 가지는 압전 세라믹스를 필요로 한다. 현재 많이 사용되는 PZT계 세라믹스는 우수한 전기적 특성으로 많이 사용되고 있지만 Pb의 유독성으로 인한 환경문제로 Pb가 포함된 제품을 제한하고 있어 현재 Lead-free의 연구가 이루어지고 있다. Lead-free중 Ba$(Ti_{0.8}Zr_{0.2})O_3$(BZT)는 PZT계 세라믹스를 대체할 차세대 압전 재료로 주목받고 있다. 일반적으로 Lead-free의 압전계수($d_{33}$=100~300pC/N)는 비교적 낮은 값을 보이지만 BZT의 압전계수(BZT $d_{33}$~620pC/N)는 PZT계 세라믹스의 압전계수($d_{33}$=500~600pC/N)와 비교하여 부족하지 않은 압전계수를 보여주며 PZT를 대체할 재료로 주목받고 있다. 본 실험은 햅틱 압전 엑츄에이터용 무연 압전세라믹스의 제작을 위하여 Ba$(Ti_{0.8}Zr_{0.2})O_3-(Ba_{0.7}Ca_{0.3})-TiO_3$(BZT -BCT)의 조성으로 유전 및 압전 특성을 조사하였다.

• 한국HCI학회:학술대회논문집
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• 2008.02c
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• pp.25-29
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• 2008

A virtual prototyping (VP) system provides realistic 3D images of product. A virtual prototype, however, can only be operated using traditional input device like keyboards or mice and cannot present physical interface of the product. This paper describes a haptic dial system for virtual prototyping, which integrates haptic effects with virtual user interface to facilitate product development. A user can interface the virtual prototype with the motor-driven haptic dial with feeling like operating mechanical dial. This system will help product designers sketch user interfaces during the whole stage of product design.