• KSII Transactions on Internet and Information Systems (TIIS)
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• v.17 no.11
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• pp.3064-3082
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• 2023

During the last decade, several Electronic Orientation Aids devices have been proposed to solve the autonomy problems of visually impaired people. When hearing is considered the primary sense for Visually Impaired people (VI) and it is generally loaded with the environment, the use of tactile sense can be considered a solution to transmit directional information. This paper presents a new wearable haptic system based on four motors implemented in shoes, while six directions can be played. This study aims to introduce an interface design and investigate an appropriate means of spatial information delivery through haptic sense. The first experiment of the proposed system was performed with 15 users in an indoor environment. The results showed that the users were able to recognize, with high accuracy, the directions displayed on their feet. The second experiment was conducted in an outdoor environment with five blindfolded users who were guided along 120 meters. The users, guided only by the haptic system, successfully reached their destinations. The potential of tactile-foot stimulation to help VI understand Electronic Orientation Aids (EOA) instructions was discussed, and future challenges were defined.

• Korean Journal of Computational Design and Engineering
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• v.13 no.1
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• pp.8-17
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• 2008

Putting a high value on individual preferences is a modern trend that more and more companies are considering for their product design and development and the apartment design is not an exception. Most apartments today are built using similar design with no room for customization. People in general want their tastes to be reflected in the design of their apartment. However, delivering what customers like to the construction company may not be an easy task in practice. For this reason, an intuitive and effective medium between the company and customers for effective communication is needed to ameliorate such a difficulty and in response to this necessity, we developed a test platform for the virtual model house which provides a user with the customization of the apartment using haptic interactions. In our virtual environment, a user can explore an apartment and change the interior based on their taste and feel through intuitive haptic interactions.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.119.1-119
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• 2001

Teleoperation enables an operator to manipulate remote objects. One of the main goals in teleoperation researches is to provide the operator with the feeling of the telepresence, being present at the remote site. For these purposes, a master robot must be designed as a bilateral control system that can transmit position/force information to a slave robot and feedback the interaction force. A newly proposed impedance algorithm is applied for the control of a haptic interface that was developed as a master robot. With the movements of the haptic interface for position/for co commands, impedance parameters are varying always. When the impedance parameters between an operator and ...

• Proceedings of the Korean Society for Emotion and Sensibility Conference
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• 2012.05a
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• pp.57-58
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• 2012

• Journal of Advanced Marine Engineering and Technology
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• v.41 no.1
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• pp.56-61
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• 2017

This paper presents a data prediction method and its application to haptic-based teleoperation systems. In general, time delays inevitably occur during data transmission in a network environment, which degrades the overall performance of haptic-based teleoperation systems. To address this situation, this paper proposes an autoregressive moving average (ARMA) model-based data prediction algorithm for estimating model parameters and predicting future data recursively in real time. The proposed method was applied to haptic data captured every 5 ms while bilateral haptic interaction was carried out by two users with an object in a virtual space. The results showed that the prediction performance of the proposed method had an error of less than 1 ms when predicting position-level data 100 ms ahead.

• The Journal of Korea Robotics Society
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• v.8 no.3
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• pp.186-196
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• 2013

Since its introduction (e.g., [4, 6]), virtual coupling technique has been de facto way to connect a haptic device with a virtual proxy for haptic rendering and control. However, because of the single dependence on spring-damper feedback action, this virtual coupling suffers from the degraded transparency particularly during contact tasks when large device/proxy-forces are involved. In this paper, we propose a novel virtual coupling technique, which, by utilizing passive decomposition, reduces device-proxy position deviation even during the contact tasks while also scaling down (or up) the apparent inertia of the coordinated device-proxy. By doing so, we can significantly improve transparency between multiple degree of freedom (possibly nonlinear) haptic device and virtual proxy. In other to use passive decomposition, disturbance observer of [3] is adopted to estimate human force with some dead-zone modification to avoid "winding-up" force estimation in the presence of device torque saturation. Some preliminary experimental results are also given to illustrate efficacy of the proposed technique.

• Journal of IKEEE
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• v.17 no.1
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• pp.44-50
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• 2013

This paper proposed the implementation of haptic-based robot which is following a human by using fundamental sensors on robot arms without additional sensors. Joints in the robot arms have several motors, and their angles can be read out by these motors when a human pushes or pulls the robot arms. So these arms can be used as haptic sensors. The implemented robot follows a human by interacting with robot arms and human hands, as a human follows a human by hands.

• Journal of the Korean Institute of Landscape Architecture
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• v.43 no.4
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• pp.1-14
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• 2015

In the West, of the body's five senses sight is considered the most important but Ocular-centralistic thinking contains many issues. Privileging the subject and inhibiting interaction with the other senses, Ocular-centrism limits the experience of the world to the visual area. However, experiences can be understood as 'touching' various forms and are related to touch. With the heightened interest in the multi-sensuous side of the body contrary to Ocular-centrism, the intervention of the body in the external space has become an important issue in modern landscape architecture. This study explores the possibility of the haptic perception system that causes the active experience of a subject. Haptic perception plays a catalytic role leading an active experience of the subject and the subject experiences a sense of place through such haptic perception. By revealing what was known through the sense of touch through the concurrency and interaction of the various senses, haptic perception draws active participation The haptic perception system has been studied in various fields but has not been studied in the field of landscape architecture. Thus, this study discusses the aspect of haptic perception limited to landscape architecture shown before modernism. In a discussion on haptic perception, the concept of haptic perception is clarified through previous study reviews and literature and the characteristics of haptic perception are derived. Then, the problems of the Ocular-centrism system and the need for haptic perception are discussed. In the historical development process of haptic perception, the change process of the scopic regime is examined chronologically and the ways in which Ocular-centralistic thinking and anti-Ocular-centralistic thinking have been projected on the architecture and landscape architecture of each age are studied via literature and cases studies. The impact of the scopic regime on the landscape architecture field in the historical change process is examined.

• KIPS Transactions on Software and Data Engineering
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• v.12 no.6
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• pp.275-284
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• 2023

Virtual reality simulations are used for education and training in various fields, and are especially widely used in the medical field recently. The education/training simulator consists of tactile/force feedback generation and image/sound output hardware that provides a sense similar to a doctor's treatment of a real patient using real surgical tools, and software that produces realistic images and tactile feedback. Existing simulators are complicated and expensive because they have to use various types of hardware to simulate various surgical instruments used during surgery. In this paper, we propose a dental surgical simulation system using a force feedback device and a morphable haptic controller. Haptic hardware determines whether the surgical tool collides with the surgical site and provides a sense of resistance and vibration. In particular, haptic controllers that can be deformed, such as length changes and bending, can express various senses felt depending on the shape of various surgical tools. When the user manipulates the haptic feedback device, events such as movement of the haptic feedback device or button clicks are delivered to the simulation system, resulting in interaction between dental surgical tools and oral internal models, and thus haptic feedback is delivered to the haptic feedback device. Using these basic techniques, we provide a realistic training experience of impacted wisdom tooth extraction surgery, a representative dental surgery technique, in a virtual environment represented by sophisticated three-dimensional models.

• Journal of the Korea Computer Graphics Society
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• v.26 no.2
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• pp.1-9
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• 2020

In this paper, we propose haptic interfaces based on force feedback to provide a physical painting experience to virtual reality users. Through this system, the user can create surface-based painting holding a haptic stylus, while utilizing both visual feedback from the worn HMD and haptic feedback during painting. In particular, the haptic interfaces simulate the physical interaction between painting brush and painting, which can help to improve the spatial perception of users and compensate for visual feedback. This can reduce laborious drawing works to repeatedly paint strokes and therefore yield a better painting performance. As a result, users can experience more effective and realistic VR painting with this system.