• Title/Summary/Keyword: Haptic Pen

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Design and Control of a Wire-driven Haptic Device;HapticPen

  • Farahani, Hossein S.;Ryu, Je-Ha
    • 제어로봇시스템학회:학술대회논문집
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    • 2005.06a
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    • pp.1662-1667
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    • 2005
  • In this paper, analysis, design, control and prototype construction of a wearable wire-driven haptic interface called HapticPen is discussed. This device can be considered as a wire driven parallel mechanism which three wires are attached to a pen-tip. Wire tensions are provided utilizing three DC servo motors which are attached to a solid frame on the user's body. This device is designed as input as well as output device for a wearable PC. User can write letters or figures on a virtual plate in space. Pen-tip trajectory in space is calculated using motor encoders and force feedback resulting from contact between pen and virtual plate is provided for constraining the pen-tip motion onto the virtual plane that can be easily setup by arbitrary non-collinear three points in space. In this paper kinematic model, workspace analysis, application analysis, control and prototype construction of this device are presented. Preliminary experiments on handwriting in space show feasibility of the proposed device in wearable environments.

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Cognitive Development Evaluation of Haptic Puzzle Game Using a Haptic Pen (촉각펜을 이용한 햅틱 퍼즐게임의 인지 발달 평가)

  • Chung, Dong-Hun
    • Journal of Korea Game Society
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    • v.9 no.4
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    • pp.45-56
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    • 2009
  • It is necessary for young children to integrate the sense of sight, hearing, touch, etc. for developing their emotion and cognition. Thanks to Information and Communication Technology (ICT) development, young children have more opportunities to use various senses in learning process. However, ICT learning method is more focusing on the sense of sight and hearing, and lacks of integrated recognition and this fact leads to the reason why ICT can not be used as a main education tool. Therefore, this study evaluated the influence of wUbi-Pen(haptic device) on cognition using a computer puzzle program. The results show that young children using a haptic pen have greater intention and performance in object assembly, mazes, picture completion in K-WPPSI test than those of non-using haptic pen. This implies that haptic function should be considered in ICT material and indeed useful in various cognition-related symptoms and diseases.

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A Five Degree-of-freedom Pen-based Cable-suspended Haptic Interface

  • Park, Kyihwan;Tie Yun;Byunghoon Bae
    • 제어로봇시스템학회:학술대회논문집
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    • 2001.10a
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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 ...

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Development of Pen-type Haptic User Interface and Haptic Effect Design for Digilog Book Authoring (디지로그 북 저작을 위한 펜형 햅틱 사용자인터페이스의 개발)

  • Lee, Jun-Hun;Ha, Tae-Jin;Ryu, Je-Ha;Woo, Woon-Tak
    • 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.

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Haptic Patterns with Convoying Symbolic Meaning and Scheduler Application (상징적 의미를 전달하는 촉감 패턴 및 이를 응용한 스케쥴러)

  • Park, Ji-Eun;Gyeong, Gi-Uk;Hahn, Min-Soo;Park, Jun-Seok
    • 한국HCI학회:학술대회논문집
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    • 2007.02a
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    • pp.435-439
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    • 2007
  • 본 연구에서는 기존의 펜형 장치에 진행된 촉감 연구들이 진동이나 역감의 제시에 그쳤던 것에 반해, 더욱 일반화된 펜형 장치에 상징적 의미를 포함한 정보를 전달할 수 있는 촉감 패턴을 생성하는 방법을 제시한다. 상징성이 강한 시각적 아이콘을 촉감 패턴으로 변환하기 위해 점에서 이미지와 의미를 연상해 내는 별자리의 구성방식을 분석하여 이미지를 점으로 간략화하고, 촉감 제시 장치의 핀과 연동시켜 패턴화하였다. 아울러 본 연구의 효용성을 검증하기 위해 펜형 장치를 사용하는 PDA 응용 프로그램인 스케쥴러를 개발하여 생성한 촉감 패턴을 적용하였다. 본 연구는 임의적 배치 형태인 점자와 달리 촉감 패턴 자체가 상징성을 가질 수 있다는 점에서 일반인이 더욱 직관적으로 사용할 수 있다는 장점이 있으며 향후 적용한 응용 프로그램으로 사용성에 대한 검증이 필요하다. 또한 그 응용으로 일반적인 OS용 아이콘을 촉감화하거나 시각 장애인과 일반인이 모두 사용할 수 있는 Caller ID서비스, 게임 등 여러 가지 방향으로 활용할 수 있다.

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Development of a Compact Tactile Display Module and Its Application to a Haptic Stylus (소형 질감제시 모듈 개발 및 펜형 촉감 인터페이스)

  • Kyung, Ki-Uk;Park, Jun-Seok
    • 한국HCI학회:학술대회논문집
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    • 2007.02a
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    • pp.25-31
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    • 2007
  • 본 논문에서는 질감제시장치와 진동모터를 내장한 펜형 햅틱(haptic) 인터페이스에 대해서 기술한다. 본 연구의 목적은 다양한 장치에 적용할 수 있는 소형 질감제시 모듈을 제안하고, 개발된 모듈을 펜과 같은 모양의 인터페이스에 내장하여 그 성능을 검증하는데 있다. 본 연구의 수행을 위해 핀배열을 내장하고 있으며, 저전력, 저소음으로 동작하며, 수직방향으로 1mm이상의 변위를 일으키는 소형 질감제시 모듈을 개발하였다. 그리고 개발된 모듈은 PDA나 Tablet PC등에서 흔히 사용되는 스타일러스(Stylus)와 같은 펜모양의 인터페이스에 내장되었다. 펜형 인터페이스의 헤드부분에는 팬케익 모터를 내장하여 사용자에게 진동 촉감을 제공할 수 있도록 하였다. 개발된 펜형 인터페이스의 성능을 검증하기 위하여Mobile Tablet PC상에서 내장된 질감제시 모듈이 점자정보를 촉감으로 전달할 수 있는지에 관한 실험을 수행하였으며, 모든 실험은 그래픽 사용자 인터페이스(GUI)상에서 이루어졌다. 또한 모든 버튼 조작시 '클릭'하는 느낌을 재현하였다. 실험은 동시에 다양한 자극의 주파수와 시간의 변화 조건에서 시행되어 의도하는 촉감을 가장 잘 전달하는 자극방법에 관한 연구를 동시에 수행하였다. 또한 개발된 펜형 인터페이스를 이용하여 이미지와 함께 데이터 베이스화 되어있는 질감을 재현할 수 있는 방법에 관한 기초 연구를 수행하였다.

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A Measurement System for 3D Hand-Drawn Gesture with a PHANToMTM Device

  • Ko, Seong-Young;Bang, Won-Chul;Kim, Sang-Youn
    • Journal of Information Processing Systems
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    • v.6 no.3
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    • pp.347-358
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    • 2010
  • This paper presents a measurement system for 3D hand-drawn gesture motion. Many pen-type input devices with Inertial Measurement Units (IMU) have been developed to estimate 3D hand-drawn gesture using the measured acceleration and/or the angular velocity of the device. The crucial procedure in developing these devices is to measure and to analyze their motion or trajectory. In order to verify the trajectory estimated by an IMU-based input device, it is necessary to compare the estimated trajectory to the real trajectory. For measuring the real trajectory of the pen-type device, a PHANToMTM haptic device is utilized because it allows us to measure the 3D motion of the object in real-time. Even though the PHANToMTM measures the position of the hand gesture well, poor initialization may produce a large amount of error. Therefore, this paper proposes a calibration method which can minimize measurement errors.

Wearable Computers

  • Cho, Gil-Soo;Barfield, Woodrow;Baird, Kevin
    • Fiber Technology and Industry
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    • v.2 no.4
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    • pp.490-508
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    • 1998
  • One of the latest fields of research in the area of output devices is tactual display devices [13,31]. These tactual or haptic devices allow the user to receive haptic feedback output from a variety of sources. This allows the user to actually feel virtual objects and manipulate them by touch. This is an emerging technology and will be instrumental in enhancing the realism of wearable augmented environments for certain applications. Tactual displays have previously been used for scientific visualization in virtual environments by chemists and engineers to improve perception and understanding of force fields and of world models populated with the impenetrable. In addition to tactual displays, the use of wearable audio displays that allow sound to be spatialized are being developed. With wearable computers, designers will soon be able to pair spatialized sound to virtual representations of objects when appropriate to make the wearable computer experience even more realistic to the user. Furthermore, as the number and complexity of wearable computing applications continues to grow, there will be increasing needs for systems that are faster, lighter, and have higher resolution displays. Better networking technology will also need to be developed to allow all users of wearable computers to have high bandwidth connections for real time information gathering and collaboration. In addition to the technology advances that make users need to wear computers in everyday life, there is also the desire to have users want to wear their computers. In order to do this, wearable computing needs to be unobtrusive and socially acceptable. By making wearables smaller and lighter, or actually embedding them in clothing, users can conceal them easily and wear them comfortably. The military is currently working on the development of the Personal Information Carrier (PIC) or digital dog tag. The PIC is a small electronic storage device containing medical information about the wearer. While old military dog tags contained only 5 lines of information, the digital tags may contain volumes of multi-media information including medical history, X-rays, and cardiograms. Using hand held devices in the field, medics would be able to call this information up in real time for better treatment. A fully functional transmittable device is still years off, but this technology once developed in the military, could be adapted tp civilian users and provide ant information, medical or otherwise, in a portable, not obstructive, and fashionable way. Another future device that could increase safety and well being of its users is the nose on-a-chip developed by the Oak Ridge National Lab in Tennessee. This tiny digital silicon chip about the size of a dime, is capable of 'smelling' natural gas leaks in stoves, heaters, and other appliances. It can also detect dangerous levels of carbon monoxide. This device can also be configured to notify the fire department when a leak is detected. This nose chip should be commercially available within 2 years, and is inexpensive, requires low power, and is very sensitive. Along with gas detection capabilities, this device may someday also be configured to detect smoke and other harmful gases. By embedding this chip into workers uniforms, name tags, etc., this could be a lifesaving computational accessory. In addition to the future safety technology soon to be available as accessories are devices that are for entertainment and security. The LCI computer group is developing a Smartpen, that electronically verifies a user's signature. With the increase in credit card use and the rise in forgeries, is the need for commercial industries to constantly verify signatures. This Smartpen writes like a normal pen but uses sensors to detect the motion of the pen as the user signs their name to authenticate the signature. This computational accessory should be available in 1999, and would bring increased peace of mind to consumers and vendors alike. In the entertainment domain, Panasonic is creating the first portable hand-held DVD player. This device weight less than 3 pounds and has a screen about 6' across. The color LCD has the same 16:9 aspect ratio of a cinema screen and supports a high resolution of 280,000 pixels and stereo sound. The player can play standard DVD movies and has a hour battery life for mobile use. To summarize, in this paper we presented concepts related to the design and use of wearable computers with extensions to smart spaces. For some time, researchers in telerobotics have used computer graphics to enhance remote scenes. Recent advances in augmented reality displays make it possible to enhance the user's local environment with 'information'. As shown in this paper, there are many application areas for this technology such as medicine, manufacturing, training, and recreation. Wearable computers allow a much closer association of information with the user. By embedding sensors in the wearable to allow it to see what the user sees, hear what the user hears, sense the user's physical state, and analyze what the user is typing, an intelligent agent may be able to analyze what the user is doing and try to predict the resources he will need next or in the near future. Using this information, the agent may download files, reserve communications bandwidth, post reminders, or automatically send updates to colleagues to help facilitate the user's daily interactions. This intelligent wearable computer would be able to act as a personal assistant, who is always around, knows the user's personal preferences and tastes, and tries to streamline interactions with the rest of the world.

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