• Journal of KIISE:Software and Applications
• /
• v.34 no.10
• /
• pp.910-917
• /
• 2007

Of the possible interactions between human and robot, touch is an important means of providing human beings with emotional relief. However, most previous studies have focused on interactions based on voice and images. In this paper. a method of recognizing human touching behaviors is proposed for developing a robot that can naturally interact with humans through touch. In this method, the recognition process is divided into pre-process and recognition Phases. In the Pre-Process Phase, recognizable characteristics are calculated from the data generated by the touch detector which was fabricated using force sensors. The force sensor used an FSR (force sensing register). The recognition phase classifies human touching behaviors using a multi-layer perceptron which is a neural network model. Experimental data was generated by six men employing three types of human touching behaviors including 'hitting', 'stroking' and 'tickling'. As the experimental result of a recognizer being generated for each user and being evaluated as cross-validation, the average recognition rate was 82.9% while the result of a single recognizer for all users showed a 74.5% average recognition rate.

• Journal of the Korean Society for Precision Engineering
• /
• v.16 no.2 s.95
• /
• pp.130-137
• /
• 1999

In this paper we propose a method of determining the local curvature of a three dimensional convex object using the force and torque information obtained from the active touch of a robot hand. A technique for estimating two dimensional curvature of a convex object are introduced and the way of computing the three dimensional curvature from the two dimensional vurvatures is presented. Also, we develop an experimental system consisting of a finger and verify the effectiveness of the proposed method experimentally.

• Journal of Korean Physical Therapy Science
• /
• v.29 no.2
• /
• pp.20-27
• /
• 2022

Background: The purpose of the present study was to determine whether balance training combined with light touch improves the postural sway and gait speed in stroke patients. Design: Randomized Controlled Trial Study Methods: The current study included 40 stroke patients, who were randomly divided into two groups: the balance training with light touch (LT) group (n=20) and the balance training with heavy touch (HT) group (n=20). Both groups performed balance training on a stable and unstable ground. Additionally, the LT group provided light touch stimulation, and the HT group provided heavy touch stimulation. All the participants underwent 20 sessions of STS training (thirty minutes, five days per week for four weeks). In this study, postural sway was measured using a force platform, and walking speed was measured using a 10 meter walk test. Results: The improvements in postural sway and gait speed were observed to be significantly greater in the LT group, compared to the HT group (p<0.05). Conclusion: The results of the current study imply that balance training combined with light touch is a beneficial and effective therapeutic modality that can be employed to improve the postural sway and gait speed in stroke patients.

• Physical Therapy Rehabilitation Science
• /
• v.5 no.3
• /
• pp.138-142
• /
• 2016

Objective: The purpose of this study was to investigate how light touch with a finger affects balance ability when a posture is maintained in the condition of visual information blockage and to provide a fundamental material for developing balance ability in the process of rehabilitation treatment. Design: Cross-sectional study. Methods: The study subjects were 17 healthy men and women in their twenties and thirties who were studying at S University in Seoul. The system was comprised of an equilateral triangular force platform. Subjects were asked to step on the foot position of the force platform (Good Balance, Finland) barefooted for 30 seconds, with eyes closed, hands hanging down loosely, and feet comfortably apart. It was connected to a laptop by using Bluetooth technology. An experiment was conducted in the following three circumstances: 1) no-touch trial, 2) light touch to the back (T7 area), and 3) light touch to the middle finger of the left hand. Each subject was given a 10-minute break between consecutive measurements. The experimental circumstances were performed randomly. Anteroposterior sway (APSV), mediolateral sway velocity (MLSV), and velocity moment (VM) were measured. Results: The APSVs (mm/s) were $9.32{\pm}3.37$ and $5.45{\pm}2.98$; the MLSVs (mm/s), $6.39{\pm}3.35$ and $3.31{\pm}2.48$; and VM ($mm^2/s$), $17.13{\pm}11.75$ and $6.76{\pm}8.31$ in the first and second experimental circumstances, respectively. APSV, MLSV, and VM values were significantly improved with the 1) no-touch trial and 2) light touch to the back trail conditions compared with the 3) light touch to the middle finger of the left hand condition (p<0.05). Conclusions: This study revealed that the balance ability for maintaining a body posture was influenced more by light touch to the back (T7) than by light touch with the sensitive fingertip and body sway diminished after visual information was blocked.

• Journal of the Institute of Electronics and Information Engineers
• /
• v.52 no.3
• /
• pp.206-212
• /
• 2015

This paper proposes the physical human-robot interaction method that controls the robot arms using ITO touch panel sensor as the skin of robot. To implement physical human-robot interaction, the method of using the force/torque sensor and the method of using tactile sensor created by arranging small element type of sensor have been studied. However, these sensors have the pros and cons in terms of price and performance. This study aims to demonstrate the economy of element type sensor and the accuracy of force/torque sensor through experiment by proposing the method of physical interaction using the touch panel as the skin of robot, and by constructing overall system. The experiment was carried out for the method of controlling the robot arm by installing end-effecter and the method of controlling robot arm by creating the gesture with reference point on the touch panel. Through this experiment, the possibility of teaching control using the touch panel was confirmed.

• KIPS Transactions on Computer and Communication Systems
• /
• v.7 no.3
• /
• pp.73-80
• /
• 2018

Due to the popularity of smartphones and the simplification of financial services, the number of mobile financial services is increasing. However, the security keypads developed for existing financial services are susceptible to probability analysis attacks and have security vulnerabilities. In this paper, we propose and implement a security keypad based on dual touch. Prior to the proposal, we examined the existing types of security keypads used in the mobile banking and mobile payment systems of Korean mobile financial businesses and analyzed the vulnerabilities. In addition, we compared the security of the proposed dual touch keypad as well as existing keypads using the authentication framework and the existing keypad attack types (Brute Force Attack, Smudge Attack, Key Logging Attack, and Shoulder Surfing Attack, Joseph Bonneau). Based on the results, we can confirm that the proposed security keypad with dual touch presented in this paper shows a high level of security. The security keypad with dual touch can provide more secure financial services, and it can be applied to other mobile services to enhance their security.

• Journal of the Ergonomics Society of Korea
• /
• v.35 no.6
• /
• pp.551-568
• /
• 2016

Objective: The objective of this study is to identify the difference in the press behavior characteristics of 3D Touch, which is a new touch interaction of smart phones, and the existing 'Tap and Long Press' touch interaction, and to examine behavior changes upon feedbacks. Background: Since 3D Touch is similar to the existing 'Tap and Long Press' touch interactions in terms of press behavior, which is likely to cause interference, it is necessary to conduct a preliminary study on behavior characteristics of touch interactions. Method: In utilization of smart phones with the 3D Touch function to measure press behavior characteristics of touch interaction, an experiment was conducted where 30 subjects were given a task to press 30 buttons of touch interactions on the screen. During the experiment, two press behavior characteristics-maximum touch pressure and press duration-were analyzed. To grasp changes in behaviors upon feedbacks, the task was carried out in a condition where there was no feedback and in a condition where there were feedbacks of specific critical values. Results: While there was no feedback given, subjects tended to press with much strength (318.98gf, 0.60sec) in the case of 3D Touch, and press the Long Press button for a while (157.12gf, 1.10sec) and press the Tap button with little strength only for a short moment (37.92gf, 0.10sec). 3D Touch and Long Press had an area of intersection in time, but when feedbacks of specific critical values were given, there were behavior calibration effects to adjust the press behavior characteristics of 3D Touch and Long Press. Conclusion: Although interferences are expected between 3D Touch and Long Press due to the similarity of press behaviors, feedbacks induce behavior calibration. Hence, once feedbacks were provided with 3D Touch operated in an appropriate condition of critical pressure, interference between two motions can be minimized. Application: The findings of this study are expected to be utilized as a basis for the values of optimal critical pressure, at which users can easily distinguish 3D Touch from Long Press which is the existing touch interaction.

• Journal of Biomedical Engineering Research
• /
• v.32 no.4
• /
• pp.312-318
• /
• 2011

The purpose of study was to evaluate effects for repetitive use of thumb according to two different input types (button and touch) of mobile phones. A total of eight young and healthy subjects (6 males and 2 females: $24.63{\pm}8.04$ years) volunteered, and force measurement on thumb using film type pressure sensor was carried out for an hour. Before the experiment De Quervain's syndrome test were performed to check the left and right muscles related with thumb motion and after measuring the pressing force fatigue feeling survey achieved. For a statistical analysis, 1-to-5 ranking scale was used to score the fatigue feeling. From the result of pressure measurement, forces acting on thumb in button type were 3.36 times (the right thumb) and 3.16 times (the left thumb) for the touch type. And the result of survey, fatigue by using the button type of mobile phone was largely triggered than by using touch type. The abductor pollicis brevis and the flexor pollicis brevis were found as common part of fatigue for repetitively using thumb during texting messages. In the further study, some quantitative fatigue comparisons for various input motions are required to analyze repetitive strain injury syndrome.

• Journal of Institute of Control, Robotics and Systems
• /
• v.11 no.5
• /
• pp.451-456
• /
• 2005

This paper describes three kinds of experiments and analysis of their results related to human tactile sensitivity using an integrated tactile display system. The device can provide vibration, normal pressure and lateral slip/stretch which are important physical quantities to sense texture. We have tried to find out the efficient method of stimulating, limitation of surface discrimination by kinesthetic farce feedback and the effectiveness of the combination of kinesthetic force and tactile feedback. Seven kinds of different stimulating methods were carried out and they are single or combination of the kinesthetic force, normal static pressure, vibration, active/passive shear and moving wave. Both prototype specimen and stimulus using tactile display were provided to all examinees and they were allowed to answer the most similar sample. The experimental results show that static pressure is proper stimulus for the display of micro shape of the surface and vibrating stimulus is more effective for the display of fine surface. And the sensitivities of active touch and passive touch are compared. Since kinesthetic force feedback is appropriate to display shape and stiffness of an object, but roughness display has a limitation of resolution, the concurrent providing methods of kinesthetic and tactile feedback are applied to simulate physical properties during touching an object.

• Proceedings of the KIPE Conference
• /
• 1998.07a
• /
• pp.116-122
• /
• 1998

This Paper presents some of challenges of creating feedback force, through manipulation of master manipulator, allowing the user to feel objects within a virtual environment. A sense of touch for the virtual environment. A sense of touch for the virtual environments was generated by a virtual compliance control method. In theis system data communication between the master and slave, we used TCP protocol. In the experiments. A position error between the master and slave arm was about $13.56^{\circ}$ in case that the master and slave arm had not compliance properties of the virtual object, while they have the its properties the position error reduced by $2.43^{\circ}$.