• International Journal of Fuzzy Logic and Intelligent Systems
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• v.3 no.2
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• pp.161-165
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• 2003

In this paper, we investigate the issues on the design and implementation of tele-operation system based on the haptic interface. Here, the 3-DOF haptic device and the X-Y-Z stage are employed as master controller and slave system respectively. For this master-slave system, the force feedback algorithm, the modeling of virtual environments and the control method of X-Y-Z stage are presented. In this paper, internet network is used for data communication between master and slave. We construct virtual environment of the real convex surface from the force-feedback in controlling the X-Y-Z stage and measuring the force applied by the 3-DOF haptic device.

• The Journal of Korea Robotics Society
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• v.3 no.2
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• pp.137-145
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• 2008

We present the initial results of on-going research for building a novel Mobile Haptic Interface (MHI) that can provide an unlimited haptic workspace in large immersive virtual environments. When a user explores a large virtual environment, the MHI can sense the position and orientation of the user, place itself to an appropriate configuration, and deliver force feedback, thereby enabling a virtually limitless workspace. Our MHI (PoMHI v0.5) features with omnidirectional mobility, a collision-free motion planning algorithm, and force feedback for general environment models. We also provide experimental results that show the fidelity of our mobile haptic interface.

• 한국HCI학회:학술대회논문집
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• 2008.02c
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• pp.12-18
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• 2008

This paper introduces the existing network-adaptive transport techniques for haptic-enhanced system. First we classify haptic-based network systems according to the communication architecture and data type. Then the existing studies concerning network QoS requirements for haptic-based network system are depicted. Finally, the survey of network-adaptive transport schemes is introduced devided into three key issues: delay and jitter compensation, error control, and transmission control.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.33 no.4
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• pp.283-295
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• 2009

Haptics technology allows one to interact with virtual environments, augmented environments, and real environments providing tactual sensory information. Science and technology of haptics can in general be classified into three groups: machine haptics, computer haptics, and human haptics. This paper surveys the state-of-the-art of haptic control technology for virtual environments and teleoperation (real environments) and then proposes possible future research directions in the following areas: haptic stability control, bilateral teleoperation control, and stability enhancement control.

• Journal of the Korean Society of Industry Convergence
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• v.18 no.1
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• pp.61-66
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• 2015

Force feedback control is investigated for improving the quality of the haptic feedback in virtual reality applications. We proposed method for control of the haptic device using universal serial bus. and evaluated the characteristics with experimental set.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.8
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• pp.815-821
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• 2014

In this paper, we propose a novel CALL (Computer-Assisted Language Learning) system, which is called POMY (POSTECH Immersive English Study). In our system, students can study English while talking to characters in a computer-generated virtual environment. POMY also supports haptic feedback, so students can study English in a more interesting manner. Haptic feedback is provided by two platforms, a haptic chair and a force-feedback device. The haptic chair, which is equipped with an array of vibrotactile actuators, delivers directional information to the student. The force-feedback device enables the student to feel the physical properties of an object. These haptic systems help the student better understand English conversations and focus on studying. We conducted a user experiment and its results showed that our haptic-enabled English study contributes to better learning of English.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.7
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• pp.663-671
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• 2008

This paper presents a real-time haptic rendering method for multi-contact interaction with virtual environments. Haptic systems often employ physics-based deformation models such as finite-element models and mass-spring models which demand heavy computational overhead. The haptic system can be designed to have two sampling times, T and JT, for the haptic loop and the graphic loop, respectively. A multi-rate output-estimation with an exponential forgetting factor is proposed to implement real-time haptic rendering for the haptic systems with two sampling rates. The computational burden of the output-estimation increases rapidly as the number of contact points increases. To reduce the computation of the estimation, the multi-rate output-estimation with reduced parameters is developed in this paper. Performance of the new output-estimation with reduced parameters is compared with the original output-estimation with full parameters and an exponential forgetting factor. Estimated outputs are computed from the estimated input-output model at a high rate, and trace the analytical outputs computed from the deformation model. The performance is demonstrated by simulation with a linear tensor-mass model.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.2
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• pp.156-160
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• 2012

In this paper, we investigate the effect of asynchronous haptic and video feedback on the performance of teleoperation. To analyze the effect, a tele-manipulation experiment is specially designed, which operator moves square objects from one place to another place by using master/slave telerobotic system. Task completion time and total number of falling of the object are used for evaluating the performance. Subjective study was conducted with 10 subjects in 16 different combinations of video and haptic feedback while participants didn't have any prior information about the amount of each delay. Initially we assume that synchronized haptic and video feedback would give best performance. However as a result, we found that the accuracy was increased when haptic and video feedback was synchronized, and the completion time was decreased when one of the feedback (either haptic or video) was decreased. Another interesting fact that we found in this experiment is that it showed even better accuracy when haptic information arrives little bit earlier than video information, than the case when those are synchronized.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.1190-1194
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• 2007

Since the dismantling processes of building are very dangerous, there have been many studies to develop a remote operating devices using joystick. In this paper, in order to improve the operability of the dismantling actuator that is usually an excavator, a novel concept of tele-operated haptic device is proposed. Operators who use this haptic device with additional environmental sensing devices can work safely away from the dangerous sites. First, based on the concept design of the haptic device, the workspace mapping from the haptic device to the excavator is explored. Second, the kinematics which deals with the conversion from the 3 dimensional position information of the haptic device to the joint variable information of the backhoe is included. Lastly, 3D graphical simulation of both haptic device and the backhoe will be shown. This new design of the haptic device can be easily manufactured and gives the workers very convenient and transparent remote control capability.

• 한국HCI학회:학술대회논문집
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• 2009.02a
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• pp.402-405
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• 2009

Digilog Book, the next generation publication material, supplies digitalized contents on an analog book by integrating digital contents into existing analog books. There are some studies related to authoring tools which are to authorize, and publish some books which provide digital contents by using VR or AR techniques. In this paper, a pen-type haptic user interface for Digilog Book authoring tool has been introduced. This haptic user interface is developed for more realistic and more effective authoring tasks. This haptic interface provides haptic effects for authoring tasks which are including translation, rotation, scaling, and menu selection. In this research, we designed a body, control circuits, vibration haptic patterns for haptic user interface, and a protocol for between haptic user interface and Digilog Book main control system. Also a simple user study has been done with a developed haptic user interface.