• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.21 no.5
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• pp.79-87
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• 2021

This study suggests a design process for vibrotactile interface that can apply haptic perception factors reflecting human tactile mechanisms. This process consists of 4 stages: the haptic sense requirement analysis stage, the haptic element analysis stage, the haptic perception factor analysis stage, the haptic requirement detailed design, and the prototype implementation stage. The advantage of this design process is that unnecessary tasks can be excluded in deriving and implementing user requirements, by applying haptic perception factor analysis, and the biggest feature is that research results on ergonomic mechanisms can be reflected in the haptic design, completes prototype development simultaneously while determining the haptic requirements statement by performing user evaluation, usability testing, and haptic feature optimization tasks simultaneously. This design process includes all stages from user requirements to haptic function detailed design and prototype implementation, so it is expected that general developers who lack expertise in haptic will also be able to design user-centered designs, enabling design and implementation of haptic functions at a certain level.

• The Journal of Korea Robotics Society
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• v.4 no.3
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• pp.243-249
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• 2009

In modern society, people spend most of their time on various types of chairs. However, it is not easy for a designer to design a comfortable chair because satisfaction with the chair depends not only on the quantitative elements such as size, but also on the qualitative element such as the user's feeling. To deal with these problems, there have been many studies on designing ergonomic chairs. This paper proposes the haptic-aided design (HAD) system to design an ergonomic chair. Based on the HAD system, the designer can experience whether the chair is comfortable or not through the haptic device, and also can modify the design parameters instantaneously. The haptic chair capable of controlling the design parameters in real time was proposed as a haptic simulator. The controllable parameters, such as seat height, reclining angle, stiffness of the backrest, and so on were selected based on the previous research related to ergonomic chairs. The proposed methodology will help reduce the development cost and time by replacing the process of making the real mock-ups and prototypes with the haptic chair.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.11a
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• pp.27-30
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• 2000

In this paper, we determine the design criteria of haptic device considering the human haptic system and determine the design specifications. We developed a new 2DOF haptic device based on the specifications. It has the wide workspace, statically-balanced, constant inertia matrix, well-conditioned Jacobian matrix and so on. There also is not singularity point within workspace of the device. We show that it has better performance than other 2DOF haptic device in the many aspects.

• Proceedings of the KSME Conference
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• 2008.11a
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• pp.860-864
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• 2008

In modern society, people tend to spend their time on various types of chairs. However, it is not easy for a designer to design a comfortable chair, because satisfaction with the chair depends not only on the quantitative elements such as size, but also on the qualitative element such as the user's feeling. To deal with these problems, there have been many studies on designing an ergonomics chair. In this paper, the hapticaided design (HAD) system was adopted to design the ergonomics chair. Based on the HAD system, the designer can experience whether the chair is comfortable or not through the haptic device, and also can modify the design parameters instantaneously. The haptic chair capable of controlling the design parameters in real time was proposed as a haptic simulator. The controllable parameters such as the seat height, reclining angle, stiffness of the backrest, and so on were selected based on the previous researches related to ergonomics chairs. It will reduce the development cost and time by replacing the process of making the real mock-up and prototype with the haptic chair.

• 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.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.49 no.4
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• pp.213-219
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• 2000

In this paper, a controller design method is proposed for haptic interface considering transparency and robust stability. For this, a performance index for the transparency as performance measure is defined in the points of impedance matching and the optimal solution which is minimizing the performance index is obtained by solving H2 optimal problem. In haptic interface, the modeling uncertainties can be restricted to that of haptic device. To implement the robust stabilizing haptic controller to the uncertainties of haptic device, a robust stable condition using H$\infty$ norm from small gain theorem is proposed. To verify the effectiveness of the proposed haptic controller design scheme, numerical examples and experimental results are illustrated for virtual wall consisting of stiffness and damping factor.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.06a
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• pp.285-286
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• 2009

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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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.

• 한국HCI학회:학술대회논문집
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• 2006.02a
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• pp.257-265
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• 2006

다양한 정보기기들의 복합화 형태로 진화하는 차세대 텔레매틱스 시스템에서는 운전자의 안정성 확보와 workload 감소가 중요한 이슈로 대두되어 Interface의 단순화, GUI Interaction의 극복 등의 대한 문제해결이 중요시 되고 있다. 이를 위해 본 연구에서는 사용자의 mental model를 고려한 운전자의 자유로운 navigation을 지원할 eyes-free 기술인 haptic interface를 지원하는 모델 개발을 목표로 기존 haptic interface를 지원하는 기기들의 문제점을 도출하고 차세대 텔레매틱스 시스템의 분석을 통해 기능적 요구사항을 정의하였다. 이를 기반으로 사용자에게 haptic interface를 통한 interaction을 제공함으로써 차세대 텔레매틱스 시스템을 지원하는 conceptual model을 개발하였다. 또한 haptic device design시에 고려되는 평가지표들을 선별하여 평가지표의 계층적 구조도를 작성한 후 AHP평가 모델을 개발하여 haptic device design 시의 중요 고려사항을 도출하고 중요도를 산정하여 초기 design 단계에서의 prototype에 대한 객관적이고 정량적인 평가를 제공하였다.

• The Journal of Korea Robotics Society
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• v.14 no.2
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• pp.150-156
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• 2019

Haptic systems have been widely used for both virtual reality and augmented reality application including game, entertainment, education and medical sectors. Clothing designers and retailers initiated using AR and VR technologies to help the consumers find style with the perfect fit. Most of the developed augmented reality shopping is implemented by overlapping the image of the clothes on the customer so that he/she can find the fit. However, those are only visual information and the customer cannot experience the real size and the stiffness of the clothes. In this paper, we present the haptic upper garment which provides the haptic feedback to the user using cables. By controlling the length of the cable, the size of the clothes is set and by stiffness control, the compliance of the fabric is implemented. The haptic garment is modeled for precise control and the distributed controller architecture is described. With the haptic upper garment, the user's experience of the virtual clothes is greatly enhanced.