• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2000년도 추계학술대회 논문집
• /
• pp.106-109
• /
• 2000

The virtual reality - haptic device is developed for the purpose used in the work that human cannot approach and that need elaborate exercises. To render haptic, the total system is constituted master, haptic device, and slave, remote manipulator. Human operates the remote manipulator. Human operates the remote manipulator relying on the hapti devices and stereo graphic. And then the force and scene of the remote manipulator is fed-back from each haptic devices and virtual devices. The feedback information gets system gain exactly. The system gain provides the most exact haptic and virtual devices. The feedback information gets system gain exactly. The system gain provides the most exact haptic and scene to human by the location, the graphic rendering and the haptic rendering algorithm on real-time. In this research, 3D haptic device is developed for common usage and make human feel the haptic when human contacts virtual object rendered by computer graphic. The haptic device is good for tracing location and producing devices because of the row structure. Also, openGL and Visual Basic is utilized to the algorithms for haptic rendering. The haptic device of this research makes the interface possible not only with virtual reality but also with the real remote manipulator.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2000년도 추계학술대회 논문집
• /
• pp.27-30
• /
• 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.

• 전력전자학회:학술대회논문집
• /
• 전력전자학회 2000년도 전력전자학술대회 논문집
• /
• pp.632-635
• /
• 2000

In this paper we propose a controllable interrupt timer for haptic control system. haptic control system whihc was divided ito two processes as virtual environment(VE) manager and haptic controller. The VE manager displays the 3D graphic scene at low update rates 25Hz and haptic controller controls the haptic display at high update rates 1000Hz. To archive the accurate update rate we have imple-mented a timer so called "AaccTimer" based on Windows multimedia functions, The proposed "Acc Timer" for haptic control system has been imple- mented in a personal computer with a 6-DOF haptic interface. Experimental results show that our system is robust with respect to tolerances in the control rates and also through the accurate control rate the operator can always feel a stable force.feel a stable force.

• 한국HCI학회:학술대회논문집
• /
• 한국HCI학회 2007년도 학술대회 1부
• /
• pp.863-868
• /
• 2007

본 연구는 Haptic System의 물리적 stiffness(N/mm)와 사용자의 주관적 촉감정보(단단하다, 무르다)의 상관성에 관한 것이다. tangible media와 같은 컨텐츠의 촉감을 실감나게 표현하기 위해서는 사용자가 주관적으로 느끼는 힘의 강도가 haptic system에 매핑이 되어야 한다. 따라서 사용자의 주관적인 힘의 강도와 haptic system의 물리적 stiffness간에 상관성 연구가 필요하다. 본 연구에서는 물리적 특성을 결정하고 하드웨어와 소프트웨어를 연동시켜 촉감을 모델링하는 haptic 렌더링을 통해 정량화된 외부의 자극(변화)에 대해 사람이 심리적으로 느끼고 있는 감각을 정량화하여 입력 자극과의 관계를 밝히고자 팬텀을 이용해 두 번의 실험을 실시하였다. 먼저 haptic system에서 사용자가 힘의 차이를 느낄 수 있는 stiffness의 해상도를 측정하고, 그에 따라 나뉘어진 해상도 별로 촉감에 대한 주관적인 평가를 하였다. ANOVA결과에 따르면 haptic system의 물리적 stiffness와 사용자의 주관적 촉감정보간에 유의한 상관관계가 분석되었으며 회귀분석을 실시하여 유의한 정도를 회귀 방정식으로 도출하였다. 따라서tangible media를 이용한 실감적인 촉감 컨텐츠를 재현하는 기술에 본 연구결과가 유용하게 사용되리라 기대된다.

• 한국소음진동공학회논문집
• /
• 제23권1호
• /
• pp.41-48
• /
• 2013

In this work, 4-DOF ER haptic master is proposed and integrated with a slave robot for minimally invasive surgery(MIS). Using a controllable ER fluid, the haptic master can generate a repulsive force/torque with the 4-DOF motion. For realization of master-slave robot system, the motion command of the haptic master is realized by slave surgery robot. In order to follow the 4-DOF motion of the haptic master, novel mechanism of slave surgery robot with gimbal joint is devised. Accordingly, the haptic master-slave robot system is established by incorporating the slave robot with the haptic master device in which the desired repulsive force/torque and position are transferred to each other via wireless communications. In order to obtain the desired force/torque and position trajectories, tracking controllers for haptic master and slave robot are designed and implemented, respectively. It has been demonstrated that the desired effective torque tracking control performance is well achieved using the proposed haptic master-slave robot system.

• 한국소음진동공학회:학술대회논문집
• /
• 한국소음진동공학회 2012년도 추계학술대회 논문집
• /
• pp.421-427
• /
• 2012

In this work, 4 DOF ER haptic master is proposed and integrated with a slave robot for minimally invasive surgery (MIS). Using a controllable ER fluid, the haptic master can generate a repulsive force/torque with the 4-DOF motion. For realization of master-slave robot system, the motion command of the haptic master is realized by slave surgery robot. In order to follow the 4 DOF motion of the haptic master, novel mechanism of slave surgery robot with gimbal joint is devised. Accordingly, the haptic master-slave robot system is established by incorporating the slave robot with the haptic master device in which the desired repulsive force/torque and position are transferred to each other via wireless communications. In order to obtain the desired force/torque and position trajectories, tracking controllers for haptic master and slave robot are designed and implemented, respectively. It has been demonstrated that the desired effective torque tracking control performance is well achieved using the proposed haptic master-slave robot system.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2004년도 ICCAS
• /
• pp.1131-1135
• /
• 2004

In the virtual environment, force feedback to the human operator makes virtual experiences more realistic. However, the force feedback using active actuators such as motors can make the system active and sometimes unstable. To ensure the safe operation and enhance the haptic feeling, stability should be guaranteed. Both motors and brakes are commonly used for haptic device. A brake can generate a torque only against its rotation, but it is intrinsically stable. Consequently, motors and brakes are complementing each other. In this research, a two degree-of-freedom (DOF) haptic device equipped with both motors and brakes has been developed to provide better haptic effects. Each DOF is actuated by a pair of motor and brake. Modeling of the environment and the control method are needed to utilize both actuators. For various haptic effects, contact with the virtual wall and representation of friction effect are extensively investigated in this paper. It is shown that the hybrid haptic system is more suited to some applications than the motor-based active haptic system.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 1995년도 추계학술대회 논문집
• /
• pp.284-289
• /
• 1995

This paper presents a haptic display of a cooperative work between the networked multiple users. Excluding the possibility of large timedelay among the users, it is presented the way of configuring individual haptic display systems including the computation of interaction forces, joint driving forces of haptic devices and simulation of the virtual objects. A haptic display system is developed consisting of two haptic display devices operated by two remote users and experimental results to show the validity of the proposed method are also presented.

• 융복합기술연구소 논문집
• /
• 제7권2호
• /
• pp.25-30
• /
• 2017

This paper presents the effects of a virtual mass with a low-pass filter on the stability boundary of a virtual spring in the haptic system. In general, a haptic system consists of a haptic device, a sampler, a virtual impedance model and zero-order-hold. The virtual impedance is modeled as a virtual spring and a virtual mass. However the high-frequency noise due to the sampling time and the quantization error of sampled data may be generated when an acceleration is measured to compute the inertia force of the virtual mass. So a low-pass filter is needed to prevent the unstable behavior due to the high-frequency noise. A finite impulse response (FIR) filter is added to the measurement process of the acceleration and the effects on the haptic stability are simulated. According to the virtual mass with the FIR filter and the sampling time, the stability boundary of the virtual spring is analyzed through the simulation. The maximum available stiffness to guarantee the stable behavior is reduced, but simulation results still show that the stability boundary of the haptic system with the virtual mass is larger than that of the haptic system without the virtual mass.

• 복식문화연구
• /
• 제28권5호
• /
• pp.705-718
• /
• 2020

The goal of this study was to develop a haptic communication system that can convey the tactile sensation of fashion materials in a virtual environment. In addition, the effectiveness and how realistically the virtual fabric image of this system delivers the tactile sensation of actual fabric was verified. First, a literature review was conducted through which the tactile attributes of fashion materials were defined that would be implemented in the haptic communication system. Then, a questionnaire for evaluating the tactile attributes of fashion materials was developed. Next, a haptic communication system was designed to convey fashion image experiences in a virtual environment, from which a haptic rendering model was suggested. The effectiveness of the haptic communication system was evaluated by verifying user experiences with questions developed through a user evaluation experiment. The validity of the evaluation questions pertaining to the tactile attributes and the effects of the haptic communication system were verified. Factor analysis was conducted to verify the evaluation of the tactile sense attributes of the fashion material, which identified density, thickness, and elasticity of the material as key factors. As a result of comparisons between the tactile sense through haptic characteristics and through touching, it was observed that regarding density and thickness, tactile sense experience led to greater perceived reality, while this was not the case for elasticity.