• 한국HCI학회:학술대회논문집
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• 한국HCI학회 2009년도 학술대회
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• pp.1-5
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• 2009

본 연구에서는 몰입형 인간 컴퓨터 상호작용을 위한 햅틱 마우스 시스템을 제작한다. 제작한 햅틱 마우스는 진동감각 뿐 아니라 온열감도 제공하기 때문에 사용자는 더욱 몰입감 있게 가상의 공간을 경험할 수 있다. 진동 감각과 온열감을 제공하기 위하여 편심모터들과 솔레노이드, 그리고 펠티어 엑츄에이터를 이용하였으며 제작한 시스템의 평가를 위하여 레이싱 게임 프로토타입을 구현하여 테스트를 수행한다. 실험결과로부터 본 햅틱 마우스는 가상 공간에서 사용자에게 사실감을 전달함을 알 수 있다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 학술대회 논문집 정보 및 제어부문
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• pp.78-80
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• 2005

Haptic interface apparatus is the device which can offer users virtual reality not only by visualization of virtual space but also by force or tactile feedback. In this paper, we designed and fabricated a 2D haptic interface device that can be used for various purposes, and implemented a virtual air-hockey system that users can easily find in game rooms. By suitable modeling and haptic rendering, users can feel the impact and the reaction force with his/her hand holding the handle through 2D haptic interface device when he/she hit an air-hockey puck with the handle. Through the trial demonstration. we observed the reasonable effect of direction and speed of a ball like doing in reality.

• 한국HCI학회:학술대회논문집
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• 한국HCI학회 2008년도 학술대회 3부
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• pp.12-18
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• 2008

본 논문은 촉감기반 네트워크 시스템을 위한 적용형 전송기법들에 대한 기존의 연구들을 소개한다. 우선 촉감기반 네트워크 시스템의 구조와 데이터 유행에 따라서 촉감기반 네트워크 시스템을 분류하고 촉감기반 시스템을 위한 네트워크 QoS 요구 조건에 관한 기존의 연구들을 정리한다. 촉감기반 시스템을 위한 기존의 네트워크 적응형 전송기법에 대해서 네트워크 지연 및 지터 보상 기법, 손실 제어, 그리고 전송률 제어 기법들로 나누어 소개한다. 촉감기반 네트워크 시스템을 위한 기존의 연구들을 정리하므로써 더 효율적인 네트워크 적응형 전송 기법들의 개발을 위한 기반을 마련하고자 한다.

• 한국정밀공학회지
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• 제15권12호
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• pp.180-187
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• 1998

The stability and theoretical performance limits of the feedback controlled force reflecting haptic manipulator have been discussed. All the virtual environment which interact physically with the haptic system have its own stable performance limit. Three different realization of the interfaces have been compared using the driving point admittance. The haptic system which is separated from the human hand or finger is superior to its stable interaction provided that there is a means to apply a direct damping between the haptic manipulator and the human finger Electro-magnetic force is used for its digital implementation of the simple separated type haptic device. The stable limits of a virtual wall is calculated and experimental results show that there is performance limits in this implementation.

• 제어로봇시스템학회논문지
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• 제20권8호
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• pp.807-814
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• 2014

In this paper, we proposed a haptic navigation system which used the tactile data for the user guides of the mobile robot to the reference point via tele-operation in unknown blind environment. This navigation system can enable a mobile robot to avoid obstacles and move to the reference point, according to the direction provided by the device guides through a haptic device consisting of a vibration motor in a blind environment. There are a great deal of obstacles in real environments, and so mobile robots can avoid obstacles by recognizing the exact position of each obstacle through the superposition of an ultrasonic sensor. The navigation system determines the direction of obstacle avoidance through an avoidance algorithm that uses virtual impedance, and lets users know the position of obstacles and the direction of the avoidance through the haptic device consisting of 5 vibration motors. By letting users know intuitionally, it lets the mobile robot precisely reach the reference point in unknown blind environment. This haptic device can implement a haptic navigation system through the tactile sensor data.

• 융복합기술연구소 논문집
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• 제5권2호
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• pp.37-42
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• 2015

This paper presents the effects of the computational time-varying delay on the stability of the haptic system that includes a virtual wall and a first-order-hold method. The model of a haptic system includes a haptic device model with a mass and a damper, a virtual wall model, a first-order-hold model and a computational time-varying delay model. In this paper, the maximum of the computational time-varying delay is assumed to be as much as the sampling time. Using the simulation, it is analyzed how the sample-hold methods and the computational time-varying delay affect the maximum available stiffness. As the maximum of computational time-varying delay increases, the maximal available stiffness of a virtual wall model is reduced.

• 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.

• 제어로봇시스템학회논문지
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• 제11권7호
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• pp.602-608
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• 2005

In the virtual environment, force feedback to the human operator makes virtual experiences more realistic. To ensure the safe operation and enhance the haptic feeling, stability should be guaranteed. Both motors and brakes are commonly used for haptic devices. Motors can generate a torque in any direction, but they can make the system active during operation, thus leading to instability. Brakes can generate a torque only against their rotation, but they dissipate energy during operation, which makes the system intrinsically stable. Consequently, motors and brakes are complementing each other. In this research, a two degree-of-freedom (DOF) haptic device equipped with 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. Among various haptic effects, contact with the virtual wall, representation of friction and representation of plastic deformation have been investigated extensively in this paper. It is shown that the hybrid haptic device is more suited to some applications than the motor-based haptic device.

• 로봇학회논문지
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• 제4권3호
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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.

• 융복합기술연구소 논문집
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• 제2권2호
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• pp.35-39
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• 2012

This paper presents the effect of data-hold methods on stability of haptic system with a virtual wall. When a human operator interacts with virtual wall, the lager the stiffness of the virtual wall is, the more realistic the operator feels that the virtual wall is. However, if the stiffness of the virtual wall becomes extremely large, the system may be unstable. When a virtual wall is designed, it is necessary to analyze the maximum available stiffness to guarantee a stable haptic interaction. The simulation model in this paper is developed based on the haptic device model, sampler, a virtual wall model, and data hold methods to compute the maximum stiffness for stability. The effectiveness of the simulation is evaluated through comparing the results of previous studies with the results of this simulation. In addition, the effects of two data hold methods, that is, zero-order hold (ZOH) and first-order hold (FOH) on the stability are analyzed and the values of the maximum available stiffness are compared through the simulation.