• The Transactions of the Korean Institute of Power Electronics
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• v.4 no.5
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• pp.455-461
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• 1999

In this paper, we present the 3DOF force-rei1ecting interface which allows to acquire force of objc'Ct within a a virtual environment. This system is comlxlsed of device, virtual environment model, and force-rei1ecting r rendering algorithm. We design a J DOF force reflecting device using the pc$\alpha$allel linkage, torque shared by W wire, and the controller of system applied by impedance control algorithm. The force reflecting behaviour i implemented as a function position is equivalent to controlling the mechanical impedance felt by the user. E Especially how force should be supplied to user, we know using a God-Object algorithm As we experiment a system implement$\varepsilon$d by the interface of 3D virtual object and 3DOF force reJll'Cting i interface, we can feel a contact, non contact of :)D virtual object surface and sensin앙 of push button model.utton model.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2002.12a
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• pp.98-101
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• 2002

기존의 이동로봇 시스템은 완전한 자율주행이 주된 목표였으며 이때 영상정보는 단지 모니터링을 하는 보조적인 수단으로 사용되었다. 이에 따라 이동로봇의 자체 기능이 점차 고도화되는 방향으로 연구가 진행되었고, 제작비 또한 함께 상승하게 되었다. 그러나 구동만이 목적인 저렴한 이동로봇 시스템을 조작자가 원격 제어하는 것 또한 중요한 분야 중 하나이다. 이때 원격제어에 사용되는 신호로는 카메라에 의한 영상정보와 초음파 센서 등에 의한 거리정보를 주로 사용하게 된다. 그러나 영상정보는 3차원의 입체적 정보를 제공하는 데에는 부적절하기 때문에 초음파 센서를 이용한 거리정보가 매우 유용하게 된다. 본 논문에서는 초음파 센서의 정보를 이용한 원격제어용 힘 반향 조이스틱을 개발하였다. 힘 반향 알고리즘은 하나의 식으로 표현하기 곤란하므로 전문가 시스템의 구현이 매우 필요한 분야이다. 따라서 퍼지 논리를 사용하여 생성한 힘 반향 알고리즘을 이동로봇 원격제어에 사용함으로써 조작자가 이동로봇 주변환경을 쉽게 인식하여 이동로봇을 안전하게 주행할 수 있도록 하였다.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.10a
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• pp.169-169
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• 2003

• Journal of the Korean Institute of Intelligent Systems
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• v.13 no.1
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• pp.51-56
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• 2003

The main goal of existing mobile robot system was a complete autonomous navigation and the vision information was just used as an assistant way such as monitoring For this reason, the researches have been going towards sophistication of autonomousness gradually and the production costs also has been risen. However, it is also important to control remotely an inexpensive mobile robot system which has no intelligence at all. Such systems may be much more effective than fully autonomous systems in practice. Visual information from a simple camera and distance information from ultrasonic sensors are used for this system. Collision avoidance becomes the most important problem for this system. In this paper, we developed a force feedback joystick to control the robot system remotely with collision avoiding capability. Fuzzy logic is used for the algorithm in order to implement the expert s knowledge intelligently. Some experimental results show the force feedback joystick werks very well.

• Journal of Biomedical Engineering Research
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• v.21 no.6
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• pp.575-581
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• 2000

본 논문에서는 척추침생검 시뮬레이터에서 사용의 햅틱 디바이스인 PHANToM(sup)TM을 이용하여 사실적인 힘을 구현하는 방법을 보여준다. PHANToM(sup)TM은 툴의 끝부분에서 좌표축 방향으로만 힘을 낼 수 있는 단점이 있으며, 시스템의 구동장치의한계로 인하여 딱딱한 물체에 닿을 때 불안정한 특성을 보인다. 또한 좁은 영역 안에서 복잡한 조직들로 인한 급격한 강도 변화도 시스템의 불안정을 초래한다. 모사되는 힘은 두가지 성분으로 나뉜다. 하나는 바늘이 삽입될 때 바늘의 길이 방향으로 느껴지는 힘으로 생체 조직의 모델을 통해 값이 구해진다. 다른 하나는 바늘이 피부를 뚫고 지나간 이후에 바늘이 초기 삽입 방양을 유지 시켜주는 회전방향 힘으로 피봇을 이용하여 구현하였다. 불안정성 문제와 바늘이 튀어나오는 문제는 램핑 필터와 시간변수를 이용하여 제거하였다. 침생검 과정은 생체조직의 탄성 변형뿐 아니라 파괴가 일어나는 변형이므로 사실적인 힘을 구현하기 위해서 실험 데이터를 이용하여 삽입 깊이에 따라 탄성 계수와 마찰 상수가 변하는 모델을 제안하였다.

• Journal of the Korea Convergence Society
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• v.8 no.12
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• pp.291-298
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• 2017

In recent years, the increase of secondary controls within vehicles requires a mechanism to integrate various controls into a single device. This paper presents control performance of an integrated magnetorheological (MR) haptic device which can adjust various in-vehicle comfort instruments. As a first step, the MR fluid-based haptic device capable of both rotary and push motions within a single device is devised as an integrated multi-functional instrument control device. Under consideration of the torque and force model of the proposed device, a magnetic circuit is designed. The proposed MR haptic device is then manufactured and its field-dependent torque and force are experimentally evaluated. Furthermore, an inverse model compensator is synthesized under basis of the Bingham model of the MR fluid and torque/force model of the device. Subsequently, haptic force-feedback maps considering in-vehicle comfort functions are constructed and interacts with the compensator to achieve a desired force-feedback. Control performances such as reflection force are experimentally evaluated for two specific comfort functions.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.594-597
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• 1995

A hand controller in teleoperation is a man-machine interface device that provides real-time interaction between a human operator at control site and a slave manipulator at remote site. In this paper, we examine the design issure related to various types of hand controllers in use. Emphasis is placed on bilateral hand controllers and their design parameters. We describe the design of a new 6 degree-of-freedom universal force-reflecting hand controller to control a remote Schilling Titan manipulator. This hand controller allows the operstor to maintain spatial corresponence in remote manipulative operation and fell a sense of contact with the environment. Finally, we demonstrate the graphic simulation of the hand controller to verify its design characteristics.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.05a
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• pp.55-56
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• 2010

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.237-240
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• 2003

In biological cell manipulation, manual thrust or penetration of an injection pipette into an embryo cell is currently performed by a skilled operator, relying on visual feedback information only. Accurately measuring cellular forces is a requirement for minimally invasive cell injections. Moreover, the cellular farce sensing is essential in investigating the biophysical properties for cell injury and membrane modeling studies. This paper presents cellular force measurements for the force feedback-based biomanipulation. Cellular force measurement system using piezoelectric polymer sensor is implemented to measure the penetration force of a zebrafish egg cell. First, measurement system setup and calibration are described. Second, the force feedback-based biomanipulation is experimentally carried out. Experimental results show that it successfully supplies real-time cellular force feedback to the operator at several tens of uN and thus plays a main role in improving the reliability of biological cell injection tasks.

• Journal of Biomedical Engineering Research
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• v.18 no.4
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• pp.447-456
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• 1997

When the disabled is operating a rehabilitation assisting system with a joystick by himself, unlike in the case of a normal person, tremor with joystick control or instant miscontrol can often occur. If these misoperations should be directly relayed to the system, shaking or malfunction of the mobile rehabilitation assisting system might be the result. The safety of the disabled is of prime concern. To solve this problem, that is, to prevent the miscontrol of the disabled operator and avoid crashes into his or her surroundings, we propose the force-reflection locomotion algorithm with the joystick. This method uses ultrasonic sensors to measure the distance between the object and mobile robot. Based on the reception of sensory data, the necessary torque is applied via the joystick to the attatched motor. To confirm the effectiveness of the proposed method, the subjects on the reflected force by the dynamic characteristics of the joystick and the reflected force by the distance information are tested Even though there are some differences in human dexterity, we confirmed the fact that the information from the obstacles was relayed to the operator via the joystick and resulted in an improved operational performance and safety level with regard to those obstacles.