• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.25.5-25
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• 2001

A haptic interface can be a passive system with virtual coupling as a filter virtual coupling has been designed for satisfying passivity. However, it affects transparency of haptic interface as well as stability. This paper suggests new design criterion of a haptic interface controller by considering transparency. As a result, sampling time and the range of impedance or admittance should be considered as well as virtual coupling for desired performance of hapticdisplay. And experiments show that the suggested design criterion can be applied successfully for desired performance.

• 한국소음진동공학회논문집
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• 제24권1호
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• pp.54-61
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• 2014

This paper proposes a driver supportive device with haptic cue function which can transmit optimal gear shifting timing to a driver without requiring the driver's visual attention. Its performance is evaluated under vehicle model considering automotive engine, transmission and vehicle body. In order to achieve this goal, a torque feedback device is devised and manufactured by adopting the MR (magnetorheological) fluid and clutch mechanism. The manufactured MR clutch is then integrated with the accelerator pedal to construct the proposed haptic cue device. A virtual vehicle emulating a four-cylinder four-stroke engine, manual transmission system of a passenger vehicle and vehicle body is constructed and communicated with the manufactured haptic cue device. Control performances including torque tracking and fuel efficiency are experimentally evaluated via a simple feed-forward control algorithm.

• 한국안전학회지
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• 제28권4호
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• pp.19-25
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• 2013

For safe remote control, information on remote environment has to be delivered to operator realistically, and there have been numerous research efforts on this respect. Among them, haptic technology can significantly enhance safety and overall effectiveness of remote operation by delivering various kinds of information on virtual or real environment to operator. In this study, remote control based on haptic feedback is applied to control of mobile robot moving according to the command from operator avoiding collision with environmental obstacles and maintaining safe distance from them using ultrasonic sensors. Specifically, a remote feedback control structure for mobile robot is proposed. The controller is based on the inner feedback loop that directly utilizes information on distance to obstacles, and the outer feedback loop that the operator directly commands using the haptic device on which the computed reaction force based on the distance information is acting. Effectiveness of the proposed remote control scheme using double feedback loops is verified through a series of experiments on mobile robot.

• 한국CDE학회논문집
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• 제15권2호
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• pp.136-143
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• 2010

Realistic Modeling is to maximize the reality of the environment in which perception is made by virtual environment or remote control using two or more senses of human. Especially, the field of haptic rendering, which provides reality through interaction of visual and tactual sense in realistic model, has brought attention. Haptic rendering calculates the force caused by model deformation during interaction with a virtual model and returns it to the user. Deformable model in the haptic rendering has more complexity than a rigid body because the deformation is calculated inside as well as the outside the model. For this model, Gibson suggested the 3D ChainMail algorithm using volumetric data. However, in case of the deformable model with non-homogeneous materials, there were some discordances between visual and tactual sense information when calculating the force-feedback in real time. Therefore, we propose an algorithm for the Volume Haptic Rendering of non-homogeneous deformable object that reflects the force-feedback consistently in real time, depending on visual information (the amount of deformation), without any post-processing.

• 한국HCI학회:학술대회논문집
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• 한국HCI학회 2009년도 학술대회
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• pp.390-395
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• 2009

본 논문은 이동형 햅틱 장치(mobile haptic interface; MHI)의 실제적인 문제점과 그 개선사항들에 대해 다루고 있다. 1) 전체 좌표계에서의 haptic interface point (HIP) 위치 추정 정확도에 대한 개선, 2) MHI 가 사용자와 장애물들을 피해 움직이도록 하는 포텐셜-필드 방식에 기반한 이동 계획 알고리즘, 3) MHI 의 움직임으로부터 발생하는 원하지 않는 힘이 사용자에게 전해지는 것을 막기 위한 closed-loop 컨트롤 등을 소개한다.

• Journal of information and communication convergence engineering
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• 제22권2호
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• pp.127-132
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• 2024

Haptic actuators for large display panels play an important role in bridging the gap between the digital and physical world by generating interactive feedback for users. However, the generation of meaningful haptic feedback is challenging for large display panels. There are dead zones with low haptic sensations when a small number of actuators are applied. In contrast, it is important to control the traveling wave generated by the actuators in the presence of multiple actuators. In this study, we propose a particle swarm optimization (PSO)-based algorithm for the haptic localization of plates with electrostatic vibration actuators. We modeled the transverse displacement of a plate under the effect of actuators by employing the Kirchhoff-Love plate theory. In addition, starting with twenty randomly generated particles containing the actuator parameters, we searched for the optimal actuator parameters using a stochastic process to yield localization. The capability of the proposed PSO algorithm is reported and the transverse displacement has a high magnitude only in the targeted region.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2331-2336
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• 2005

This paper proposes a new haptic device using a parallel mechanism with gimbal type actuators. This device has three legs actuated by 2-DOF gimbal mechanisms, which make the device simple and light by fixing all the actuators to the base. Three extra sensors are placed at passive joints to obtain a unique solution of the forward kinematics problem. The proposed haptic device is developed for an operator to use it on a desktop in due consideration of the size of an average Korean. The proposed haptic device has a small workspace for on operator to use it on a desktop and more sensitivity than a serial type haptic device. Therefore, the motors of the proposed haptic device are fixed at the base plate so that the proposed haptic device has a better dynamic bandwidth due to a low moving inertia. With this conceptual design, optimization of the design parameters is carried out. The objective function is defined by the fuzzy minimum of the global design indices, global force/moment isotropy index, global force/moment payload index, and workspace. Each global index is calculated by a SVD (singular value decomposition) of the force and moment parts of the jacobian matrix. Division of the jacobian matrix assures a consistency of the units in the matrix. Due to the nonlinearity of this objective function, Genetic algorithms are adopted for a global optimization.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.992-995
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• 2003

A haptic device operated by the user's hand can receive information on position and orientation of the hand and display force and moment generated in the virtual environment to the hand. For realistic haptic display, the detailed information on collision between objects is necessary. In the past, the point-based graphic environment has been used in which the end effector of a haptic device was represented as a point and the interaction of this point with the virtual environment was investigated. In this paper, the shape-based graphic environment is proposed in which the interaction of the shape with the environment is considered to analyze collision or contact more accurately. To this end. the so-called Gilbert-Johnson-Keerthi (GJK) algorithm is adopted to compute collision points and collision instants between two shapes in the 3-D space. The 5- DOF haptic hand controller is used with the GJK algorithm to demonstrate a peg-in-hole operation in the virtual environment in conjunction with a haptic device. It is shown from various experiments that the shape-based representation with the GJK algorithm can provide more realistic haptic display for peg-in-hole operations.

• 한국디자인학회:학술대회논문집
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• 한국디자인학회 2005년도 춘계 학술발표대회 논문집
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• pp.214-215
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• 2005

• Transactions on Control, Automation and Systems Engineering
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• 제4권1호
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• pp.2-8
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• 2002

This paper discusses haptic display for grasping a virtual object by two fingers. Much research has been done on fundamental analysis for stability of haptic display. But it is difficult to apply the results immediately to grasping situations by two fingers, since the studies usually deal with a single device and a single object and the fingertip force in grasping situations has two components, internal and external components. The conventional methods, which specify the coupling impedance at each contact point separately, have no other alternative but to specify the impedance for the sum of the internal and external components. So even if only the impedance for the external force should be changed, the impedance for the internal force is also changed at the same time. In this paper, a new method, in which the coupling impedance is specified separately for the internal and external forces, is proposed and the stability of the proposed method is discussed using passivity analysis for 1 -DOF(Degree-Of-Freedom) system. Finally, some experiments are performed to study the effects of the proposed method.