• 한국HCI학회:학술대회논문집
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• 한국HCI학회 2009년도 학술대회
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• pp.214-220
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• 2009

Recent advanced technologies enable multiple users to share the virtual environment and work together as they are collocated. Additional sensory information such as haptic could improve the cooperation. In this paper, we propose a server-client architecture with multi-rate haptic control to support a tangible cooperation. Using our approach, the system is able to maintain a consistent simulation state across multiple users as well as to provide a highfidelity stable haptic interaction. To verify our approach, we have developed an experimental application and tested the cooperation among multiple users. The results confirm that our system is able to provide coherency among clients as well as haptic transparency.

• 전기학회논문지P
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• 제51권3호
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• pp.149-154
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• 2002

In this paper, we propose a new graphic deformation algorithm for haptic interface system. Our deformable model is based on non-linear elasticity, anisotropy behavior and the finite element method. Also we developed controller for high-speed communication. The proposed controller is based on the PCI/FPGA technology, which could progress the capability of the position calculating and the force data transmitting. The haptic system is composed of the 6DOF force display device, the high-speed controller, HIR library for 3D graphic deformation algorithm and the haptic rendering algorithm. The developed system will be used on constructing the dynamical virtual environment. We demonstrate the relevance of this approach for the real-time simulating deformations of elastic objects. To show the efficiency of our system, we programmed the simulation of force reflecting. As the result of experiment, we found that it has high stability and easy to control for deformable object than some other systems.

• 감성과학
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• 제20권3호
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• pp.49-60
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• 2017

기존 연구들은 단순히 실물을 만지는 것만으로도 그 대상에 대해 심리적 소유감이 형성되고 그 가치를 높게 평가하게 되는 소유효과가 발생한다는 것을 발견하였다. 또한 단순히 만지는 상상을 하는 경우에도 실물을 만지는 것과 같은 효과가 나타난다는 것이 발견되었다. 기존의 촉각적 심상화 연구에서는 실물을 만지는 상상을 하라는 직접적인 지시에 따른 촉각적 심상화의 효과를 밝혔으나 본 연구에서는 실물을 만지는 상상을 하라는 직접적인 지시보다 촉각적 상상을 자연스럽게 유도할 수 있는 효과적인 방법을 탐색해보았다. 상상유도 조건을 상품에 대한 시각적, 촉각적 단서가 일치하는 다중감각 단서 일치 조건, 불일치하는 다중감각 단서 불일치 조건, 상상하라는 직접적 지시 조건, 통제조건으로 조작하여 촉각적 상상의 생생함, 물리적 통제감, 지각된 소유감, 구매의도에 미치는 효과를 비교하였다. 140명의 대학생을 대상으로 실험을 실시하여 분석한 결과, 시각적 단서와 촉각적 단서가 일치하도록 제공한 다중감각 단서는 촉각적 상상을 직접적으로 지시하였을 때보다도 효과적인 것으로 나타났으며 시각적, 촉각적 단서가 불일치한 경우는 효과적이지 않은 것으로 나타났다. 본 연구는 촉각적 심상화 연구에서 한걸음 나아간 시도이며 온라인 쇼핑과 같이 실물을 보거나 만질 수 없는 환경에서의 상품 제시 방법에 대한 함의점을 제공하는데 의의가 있다.

• 제어로봇시스템학회논문지
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• 제20권8호
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• pp.801-806
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• 2014

LAS (Laparoscopy Assisted Surgery) has been substituted alternatively for traditional open surgery. However, when using a commercialized robot assisted laparoscopic such as Da Vinci, surgeons have encountered some problems due to having to depend only on information by visual feedback. To solve this problem, a haptic function is required. In order to realize the haptic teleoperation system, a force feedback and bilateral control system are needed. Previous research showed that the perturbation value estimated by a SPO (Sliding Perturbation Observer) followed a reaction force that loaded on the surgical robot instrument. Thus, in this paper, the force feedback problem of surgical robots is solved through the reaction force estimation method. This paper then introduces the possibility of the haptic function realization of a laparoscopic surgery robot using a bilateral control system. For bilateral control, the master uses an impedance control and the slave uses a SMC (Sliding Mode Control). The experiment results show that a torque and force sensorless teleoperation system can be implemented using a bilateral control structure.

• 제어로봇시스템학회논문지
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• 제19권7호
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• pp.605-613
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• 2013

This research proposes a vibration pattern algorithm to implement the haptic joystick to control a mobile robot at the remote site without watching the navigation environment. When the user cannot watch the navigation environment of the mobile robot, the user may rely on the haptic joystick solely to avoid obstacles and to guide the mobile robot to the target. To generate vibration patterns, there is a vibration motor at the bottom of the joystick which is held by the user to control the motion direction of the mobile robot remotely. When the mobile robot approaches to an obstacle, a pattern of vibration is generated by the motor, and by feeling the vibration pattern which is determined by the relative position of the mobile robot to the obstacle, the user can move the joystick to avoid the collision to the obstacle for the mobile robot. To generate the vibration patterns to convey the relative location of the obstacle near the mobile robot to the user, Fuzzy interferences have been utilized. To measure the distance and location of the obstacle near the mobile robot, ultrasonic sensors with the ring structure have been adopted and they are attached at the front and back sides of the mobile robot. The precise location of the obstacle is obtained by fusing the multiple data from ultrasonic sensors. Effectiveness of the proposed algorithm has been verified through the real experiments and the results are demonstrated.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.51.4-51
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• 2002

$\textbullet$ A noval haptic mouse system is developed for human computer interface. $\textbullet$ Five bar mechanism is adapted for 2 dof force feedback with virtual environment. $\textbullet$ Double prismatic joint type mechanism is adapted to reflect 1 dof grabbing force feedback. $\textbullet$ Cable driven mechansim is used for actuation to reduce backlash and endow backdrivability. $\textbullet$ Virtual wall perception experiment is conducted to obtain force specification for haptic mouse. $\textbullet$ Average mouse workspace is measured using magnetic position tracker.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.83.2-83
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• 2001

This paper presents a new formulation approach to reduce computational burden of the direct kinematics of 6-dof haptic devices with three sets of a parallel-serial linkage. Their direct kinematics has been formulated through employing the Denavit-Hartenberg notation, which results in complicated formulation procedures and heavy computational burden. For reducing these problems, this paper reconfigures the haptic devices into an equivalent kinematic model of the 3-6 Stewart-Gough Platform that has three connecting joints on the moving platform. Moreover, the direct kinematics of the 3-6 Platform can be effectively formulated by using the proposed Tetrahedron Approach.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.25.4-25
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• 2001

In this paper, a five degree-of-freedom haptic device is proposed. The proposed haptic device has a pen which is suspended by tensioned six strings. Human operator handles the pen. Six DC motors are used as actuators to generate tensions in six strings to make resultant force feedback at the pen to the human operator Six encoders are used for calculating the movement of the pen. A digital controller is used for generate control signals for the suitable tension in the six strings. A current amplifiers is used for amplifying the control signals. Cable-suspended system has advantages of structure simplicity (only with several strings driven by motors without using other tensioning mechanisms), low inertia, and high force-to-weight ratio. Pen-based system has advantages of compactness and ...

• 대한인간공학회지
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• 제32권4호
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• pp.371-380
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• 2013

Objective: The aim of this study is to investigate the effects of design parameters of vibrotactile signals on semantic association with transmitted information conveying different meanings. Background: As information communication relying on human visual channel becomes excessive, the utility of vibrotactile signals is being interested as a substitute measure of delivering information. Properly designed hapticons may relieve burden of visual communication by rendering distinct and meaningfully compatible haptic sensations. Method: A typical Kansei engineering approach was adopted in this study. Ten most distinctive hapticons were selected among those having different frequencies and amplitudes. Associations between the hapticons and twenty four pairs of adjectives used to describe the state of automobile in control were gathered from thirty subjects using semantic differential scales. Results: The selected pairs of adjectives were summarized by factor analysis into two semantic dimensions named 'Awareness' and 'Directionality'. The experimental hapticons matched with the semantic dimensions were presented as a haptic emotion map. Conclusion: The results from this study support that frequencies and amplitudes of haptic signals play important roles in arousing different human perceptions regarding the two haptic emotional dimensions. Application: Properly designed hapticons with respect to the contents of transmitted information will increase human operator's situation awareness as well as system performance. The result from this study can be used to develop standardized hapticons for active haptic communication.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 하계학술대회 논문집 D
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• pp.2265-2267
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• 2003

In this paper, the virtual reality system is tried to developed, which controls not only the sense of sight and hearing but also the sense of touch, In order to develope the sense of touch in this study, the stable tactual transaction system, based on summing up the basic algorithm and theory is embodied. Especially, the graphic deformation algorithm is developed in realtime with using the deformed FEM. To apply the FEM, a deformed material model is produced and then the graphic deformation with this model is able to force. Finally, the graphic transaction algorithm is deduced by the realtime calculation and simplification because the purpose of this system is to transact in real time. The result of this study is that the proposed system is possible to deform the graphics and transact the haptic in real time in PC. The simulation program has been made to prove this result.