• 한국정보통신학회논문지
• /
• 제25권6호
• /
• pp.807-812
• /
• 2021

가상현실 콘텐츠 개발은 현실 세계처럼 체험하는 것이 목적이다. 몰입감과 상호 작용은 콘텐츠를 실제처럼 경험하기 위해 매우 중요한 요소이다. 사용자와 상호 작용하여 실제처럼 체험할 수 있으려면 인간의 오감을 느낄 수 있도록 하는 입·출력 장치가 필요하다. 다양한 입·출력 디바이스 중에 가상현실에서는 시각과 청각을 자극하는 장치가 가장 대표적이다. 최근에 보다 실제와 같은 체험을 위해 촉각을 자극하는 슈트와 장갑이 출시되고 있지만, 기술적 한계로 실제 콘텐츠에 적용되는 사례는 많지 않다. 본 논문에서는 가상 세계에서 손의 움직임과 터치를 감지 할 수 있는 가상현실 장갑을 분석한다. 분석을 바탕으로 기존 가상현실 장갑에 사용 된 피드백 방식의 진동을 이용하여 UI/ UX를 개선하고 촉각으로 VR(Virtual Reality) 객체와의 충돌의 강도를 감지할 수 있는 알고리즘을 제안한다. 또한 알고리즘을 통해 구현 된 시스템을 실제 사례에 적용하고 검증한다.

• 한국안광학회지
• /
• 제6권2호
• /
• pp.71-75
• /
• 2001

본 논문에서는 열자극발광 스팩트럼을 온도, 파장, 발광강도의 3차원으로 측정할 수 있는 장치를 소개하고, 고감도 TLD인 $CaSO_4$ : Dy, P의 열자극발광을 이 장치를 이용하여 측정하였다. 측정시스템은 분광장치(spectrometer), 열자극을 위한 온도조절부, 광검출기(photon detector) 그리고 전체 시스템을 제어하고 측정 데이터를 기록 및 디스플레이하기 위한 컴퓨터로 구성되어 있다. 온도조절은 피드백(feedback)을 방식을 이용하였고, 피드백을 위한 온도는 디지털멀티미터로 측정하고 GPIB를 통하여 제어용 컴퓨터에 보내지고 컴퓨터는 전원공급기(power supply)를 제어하게 된다. 분광장치는 SPEX CD-2A를 통하여 컴퓨터에 의해 제어되고 광검출은 광증배관(photomultiplier tube)을 이용하여 측정하고 A/D 변환기를 통하여 컴퓨터에 보내져 저장되게 된다. 고강도 TL 물질인 $CaSO_4$ : Dy, P의 열자극발광을 위 장치를 이용하여 측정하였다. 측정영역은 온도 $30{\sim}300^{\circ}C$ 그리고 파장 300~800 nm였다. $CaSO_4$ : Dy. P 물질은 한국원자력연구소에서 Yamashita법으로 누적 방사선량 측정용으로 개발된 물질이다. 측정결과 온도 약 $250^{\circ}C$, 파장 약 476 nm 그리고 572 nm에서 2개의 주(main) 피크(peak)가 관측되었으며, 온도 $205^{\circ}C$, 파장 658 nm 그리고 749 nm에서 매우 약한 발광 피크가 관측되었다.

• 한국운동역학회지
• /
• 제21권1호
• /
• pp.31-38
• /
• 2011

This study aimed to determine the effects of the blockage of visual feedback on joint dynamics of the lower extremity. Fifteen healthy male subjects(age: $24.1{\pm}2.3\;yr$, height: $178.7{\pm}5.2\;cm$, weight: $73.6{\pm}6.6\;kg$) participated in this study. Each subject performed single-legged landing from a 45 cm-platform with the eyes open or closed. During the landing performance, three-dimensional kinematics of the lower extremity and ground reaction force(GRF) were recorded using a 8 infrared camera motion analysis system (Vicon MX-F20, Oxford Metric Ltd, Oxford, UK) with a force platform(ORG-6, AMTI, Watertown, MA). The results showed that at 50 ms prior to foot contact and at the time of foot contact, ankle plantar-flexion angle was smaller(p<.05) but the knee joint valgus and the hip flexion angles were greater with the eyes closed as compared to with the eyes open(p<.05). An increase in anterior GRF was observed during single-legged landing with the eyes closed as compared to with the eyes open(p<.05). Time to peak GRF in the medial, vertical and posterior directions occurred significantly earlier when the eyes were closed as compared to when the eyes were open(p<.05). Landing with the eyes closed resulted in a higher peak vertical loading rate(p<.05). In addition, the shock-absorbing power decreased at the ankle joint(p<.05) but increased at the hip joints when landing with the eyes closed(p<.05). When the eyes were closed, landing could be characterized by a less plantarflexed ankle joint and more flexed hip joint, with a faster time to peak GRF. These results imply that subjects are able to adapt the control of landing to different feedback conditions. Therefore, we suggest that training programs be introduced to reduce these injury risk factors.

• 비파괴검사학회지
• /
• 제27권4호
• /
• pp.345-353
• /
• 2007

근접장 마이크로파 현미경을 이용하여 수중에서 시료의 표면이미지에 대한 비파괴적 측정에 관한 연구를 하였다. 이때 근접장 마이크로파 현미경은 3.5-5.5 GHz에서 작동되었다. 본 연구에서는 수중에서 시료의 표면특성을 손상 없이 측정하기 위해 강성힘을 이용한 튜닝폭(tuning fork) 거리조절 시스템으로 팁과 시료 사이의 거리를 10 nm로 유지하였다. 더불어, 공기 및 수중에서 튜닝폭의 진동진폭의 변화와 공진주파수의 변화를 측정하여 수중에서 튜닝폭리 반응특성을 저하시키는 원인에 대해 알아보았다. 물 속에 시료가 충분히 잠기고, 동시에 물의 영향을 최소화하기 위해 팁의 길이를 2 mm로 제작하여 튜닝폭의 한 쪽면에 붙였다. 또한 측정과정에서 나타나는 증발현상을 해소하기 위해 엑츄에이터를 이용하여 보충용 수조를 제작하였으며, 보다 정확한 수중측정을 위해 보정프로그램을 응용하였다. 이를 통해, 시료의 공기 및 수중 측정의 가능성을 확인하기 위해 도체시료의 표면특성을 관측하고 비교하였다.

• 한국운동역학회지
• /
• 제26권2호
• /
• pp.175-181
• /
• 2016

Objective: The aim of this study was to investigate age-related changes of multi-finger synergy during a constant force production task with and without an additional mechanical constraint. Method: Fourteen elderly subjects (age: $78.50{\pm}4.63yrs$, height: $157.29{\pm}8.97cm$, weight: $65.13{\pm}6.93kg$) and 14 young subjects (age: $21.13{\pm}1.35yrs$, height: $171.57{\pm}8.43cm$, weight: $70.29{\pm}16.77kg$) participated in this study. The subjects were asked to place their index and middle fingers on two force transducers fixed on a small non-moving teeterboard and produce 10 N by pressing the sensors while watching force feedback on a computer screen under the no additional constraint condition (NAC). The subjects also performed the same task with an additional mechanical constraint (AC) where the subjects were asked to balance a teeterboard that could be rotated by finger forces. An uncontrolled manifold approach was used to calculate within-trial and between-trial multi-finger synergy indices, variance in uncontrolled subspace ($V_{UCM}$), and variance in subspace orthogonal to UCM subspace ($V_{ORT}$). Two-way repeated measured ANOVA was performed with the within-factor of task condition (with and without an additional constraint) and the between factor of groups (elderly and young). Results: The elderly group showed significantly increased within-trial $V_{ORT}$ in AC compared with NAC (p < .05) while the young group showed no significant difference between AC and NAC. There was no significant group difference for within-trial $V_{UCM}$. Between-trial $V_{ORT}$ remained unchanged between groups and conditions. However, between-trial $V_{UCM}$ for the elderly group significantly decreased in AC as compared to NAC, along with no significant difference for the young group. For multi-finger synergy, there was no significant group difference of within-trial synergy. However, between-trial synergy for the elderly group significantly decreased in AC as compared to NAC (p < .05). Conclusion: Our results indicate that aging decreased consistency (i.e., ability to perform the task on a moment-to-moment basis) with an additional mechanical constraint. In addition, aging was associated with decreased multi-finger synergy on a trial-to-trial basis.

• 대한인간공학회지
• /
• 제35권6호
• /
• pp.551-568
• /
• 2016

Objective: The objective of this study is to identify the difference in the press behavior characteristics of 3D Touch, which is a new touch interaction of smart phones, and the existing 'Tap and Long Press' touch interaction, and to examine behavior changes upon feedbacks. Background: Since 3D Touch is similar to the existing 'Tap and Long Press' touch interactions in terms of press behavior, which is likely to cause interference, it is necessary to conduct a preliminary study on behavior characteristics of touch interactions. Method: In utilization of smart phones with the 3D Touch function to measure press behavior characteristics of touch interaction, an experiment was conducted where 30 subjects were given a task to press 30 buttons of touch interactions on the screen. During the experiment, two press behavior characteristics-maximum touch pressure and press duration-were analyzed. To grasp changes in behaviors upon feedbacks, the task was carried out in a condition where there was no feedback and in a condition where there were feedbacks of specific critical values. Results: While there was no feedback given, subjects tended to press with much strength (318.98gf, 0.60sec) in the case of 3D Touch, and press the Long Press button for a while (157.12gf, 1.10sec) and press the Tap button with little strength only for a short moment (37.92gf, 0.10sec). 3D Touch and Long Press had an area of intersection in time, but when feedbacks of specific critical values were given, there were behavior calibration effects to adjust the press behavior characteristics of 3D Touch and Long Press. Conclusion: Although interferences are expected between 3D Touch and Long Press due to the similarity of press behaviors, feedbacks induce behavior calibration. Hence, once feedbacks were provided with 3D Touch operated in an appropriate condition of critical pressure, interference between two motions can be minimized. Application: The findings of this study are expected to be utilized as a basis for the values of optimal critical pressure, at which users can easily distinguish 3D Touch from Long Press which is the existing touch interaction.

• International Journal of Control, Automation, and Systems
• /
• 제6권5호
• /
• pp.677-688
• /
• 2008

In this paper, the general problem of impedance control for a robotic manipulator with a moving flexible base is addressed. Impedance control imposes a relation between force and displacement at the contact point with the environment. The concept of impedance control of flexible base mobile manipulator is rather new and is being considered for first time using singular perturbation and new sliding mode control methods by authors. Initially slow and fast dynamics of robot are decoupled using singular perturbation method. Slow dynamics represents the dynamics of the manipulator with rigid base. Fast dynamics is the equivalent effect of the flexibility in the base. Then, using sliding mode control method, an impedance control law is derived for the slow dynamics. The asymptotic stability of the overall system is guaranteed using a combined control law comprising the impedance control law and a feedback control law for the fast dynamics. As first time, base flexibility was analyzed accurately in this paper for flexible base moving manipulator (FBMM). General dynamic decoupling, whole system stability guarantee and new composed robust control method were proposed. This proposed Sliding Mode Impedance Control Method (SMIC) was simulated for two FBMM models. First model is a simple FBMM composed of a 2 DOFs planar manipulator and a single DOF moving base with flexibility in between. Second FBMM model is a complete advanced 10 DOF FBMM composed of a 4 DOF manipulator and a 6 DOF moving base with flexibility. This controller provides desired position/force control accurately with satisfactory damped vibrations especially at the point of contact. This is the first time that SMIC was addressed for FBMM.

• 한국정밀공학회지
• /
• 제28권1호
• /
• pp.115-122
• /
• 2011

Recently, we have proposed a hypothesis that spinal structures have a stress sensor driving feedback mechanism, In the human spine, spinal structure could react to modify muscular action in such a way so as to equalize stress at the disc, therefore reduce the risk of injury, In this analysis, abdominal muscle and abdominal pressure, which were not included in the previous study, were added to identify those effects in spine stability during upright stance posture for the case where the intervertebral disc plays the role of mechanoreceptor, The musculoskeletal FE model was consisted with detailed whole lumbar spine, pelvis, sacrum, coccyx and simplified trunk model. Muscle architecture with 46 local muscles containing paraspinal muscle and 6 rectus abdominal muscles were assigned according to the acting directions. The magnitude of 4kPa was considered for abdominal pressure. Minimization of the nucleus pressure deviation and annulus fiber average tension stress deviation was chosen for cost function. Developed model provide nice coincidence with in-vivo measurement (nucleus pressure). Analysis was conducted according to existence of co-activation of abdominal muscle and abdominal pressure. Antagonistic activity of abdominal muscle produced stability of spinal column with relatively small amount of total muscle force. In contrast to the abdominal muscle, effect of abdominal pressure was not clear that was partly depending on the assumption of constant abdominal pressure.

• 대한의용생체공학회:의공학회지
• /
• 제28권1호
• /
• pp.117-126
• /
• 2007

In this paper, we propose an early rehabilitation training system for the improvement of postural balance with multi-modality on a tilting bed. The integration of the visual, somatosensory and vestibular functions is significant to for maintaining the postural control of the human body. However, conventional rehabilitation systems do not provide multi-modality to trainees. We analyzed the characterization of postural control at different tilt angles of an early rehabilitation training system, which consists of a tilting bed, a visual feedback, a computer interface, a computer, and a force plate. The software that we developed for the system consists of the training programs and the analysis programs. To evaluate the characterization of postural control, we conducted the first evaluation before the beginning of the training. In the following four weeks, 12 healthy young and 5 healthy elderly subjects were trained to improve postural control using the training programs with the tilting bed. After four weeks of training, we conducted the second evaluation. The analysis programs assess (center of pressure) COP moving time, COP maintaining time, and mean absolute deviation of the trace before and after training at different tilt angles on the bed. After 4 weeks, the COP moving time was reduced, the COP maintaining time was lengthened, and the mean absolute deviation of the trace was lowered through the repeated use of vertical, horizontal, dynamic circle movement training programs. These results show that this system improves postural balance and could be applied to clinical use as an effective training system.

• 한국운동역학회지
• /
• 제23권4호
• /
• pp.377-385
• /
• 2013

Fall is very fatal accident causes death to older people. Shoe may affect to fall. Shoe influences risk of slips, trips, and falls by altering somatosensory feedback to the foot. The purpose of this study was to investigate the analysis of non-slip shoes for older people and influence on older people's lower extremity. For this study twenty three healthy older people were recruited. Each subjects walked over slippery surfaces (COF 0.08). Four pairs of non-slip shoes (shoe A had the greatest COF, 0.23 while shoe B, C, and D had smaller COF relatively) for older people were selected and tested mechanical and biomechanical experiment. For data collection motion capture and ground reaction forces were synchronized. There were statistically significant differences for slip-displacement, coefficient of friction, braking force, propulsion force, knee range of motion and knee joint stiffness by shoes. It was concluded that shoe A was the best for non-slip function because of the lowest slip displacement, the highest braking and propulsion forces, and the highest mechanical and biomechanical coefficient of friction where as shoe B, C, D were identified as a negative effect on the knee joint than shoe A. To prevent fall and slip, older people have to take a appropriate non-slip shoes such as shoe A.