• 제어로봇시스템학회논문지
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• 제9권8호
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• pp.577-584
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• 2003

Traditional ankle rehabilitation procedures are tedious, repetitive, and require therapist's help. Therefore, they do not provide patients with good motivation to actively participate in the rehabilitation exercises. In addition, objective diagnosis and evaluation of the treatment progress have been difficult because records of exercise history are made by passive instruments from time to time. The virtual reality technology can make these procedures more fun so that patients can perform everyday rehabilitation exercises more actively. Moreover, haptics technology can give active resistance to the patients ankle motion to improve strength of muscles as well as can record ankle's motion and force histories for objective diagnosis and evaluation. This paper summarizes development of a virtual environment fur reforming the conventional ankle rehabilitation procedures. First of all, conventional rehabilitation procedures have been summarized. Secondly, haptic design and control, user interface design, virtual environment contents design are described. Lastly, mutual cooperation among many developers including medical doctors and therapists and future works are commented.

• International Journal of Advanced Culture Technology
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• 제6권4호
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• pp.52-57
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• 2018

The purpose of this paper is to develop simulations that can be used for virtual education in dentistry. The virtual education to be developed will be developed with clinical training and actual case data of tooth extraction. This development goal is to allow dental students to learn the necessary surgical techniques at the point of their choice, not going into the operating room, away from time, space, and physical limits. I want to develop content using VR. Oculus Rift HMD, Optical Based Outside-in Tracking System, Oculus Touch Motion Controller, and Headset as Input / Output Device. In this configuration, the optimization method is applied convergent, and when the operation of the VR contents is performed, the content data is extracted from the interaction analysis formed in the VR engine, and the data is processed by the content algorithm. It also computes events and dental operations generated within the 3D engine programming and generates corresponding events through data processing according to the input signal. The visualization information is output to the HMD using the rendering information. In addition, the operating room environment was constructed by studying lighting and material for actual operating room environment. We applied the ratio of actual space to virtual space and the ratio between character and actual person to create a spatial composition at a similar rate to actual space.

• 적정기술학회지
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• 제6권2호
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• pp.146-150
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• 2020

4차 산업혁명에 의한 급변하는 기술 발전 과정에서 정보취약계층을 위한 보조공학기술은 종종 간과되고 있다. 본 논문에서는 차세대 보조공학기술로써 전자석 액추에이터를 적용한 촉각 디스플레이를 소개하고자 한다. 다중배열 구조의 촉각 디스플레이는 셀의 크기와 간격을 좁혀 직선과 곡선을 통해 그림, 지도, 그래픽 등을 출력한다. 이는 시각장애인들이 촉각으로 2차원 정보를 확인 할 수 있게 만들고, 기존 정보통신 기술(ICT)와 융합하여 더 많은 정보를 제공한다. STEM교육(과학, 기술, 공학, 수학)에 접근할 수 있는 교육환경을 제공할 뿐만 아니라 대중교통, 공공인프라 등 스마트시티의 다양한 분야에까지도 적용될 수 있다. 본 논문에서는 전자석 액추에이터의 연구 및 제작과정을 설명하고, 그 적용 사례를 중심으로 해당 기술이 함의하는 사회, 경제적 가치와 가능성에 대해 살펴보고자 한다.

• Journal of Advanced Marine Engineering and Technology
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• 제33권8호
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• pp.1196-1202
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• 2009

본 논문에서는 ROV 제어 시스템 구축을 위하여 관측기를 이용한 수중환경 추정기 설계를 다룬다. 먼저, 수중환경변화는 ROV 시스템의 입력항목에 가해지는 외부외란으로서 다루어질 수 있으며, 이러한 수중환경변화를 추정하기 위하여 외부외란에 영향을 받지 않는 PI 관측기를 제안한다. 이후 본 논문에서는 계단형 및 정현파형 수중환경변화를 가정하여 제안한 방법에 대해 시뮬레이션을 행하였으며, 그 결과 유효성을 확인하였다. 향후, 본 제안법을 ROV 시스템에 대한 햅틱제어기 설계에 이용하고자 한다.

• 로봇학회논문지
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• 제12권3호
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• pp.270-278
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• 2017

The electrical muscle stimulator (EMS) based human machine interface (HMI) free to mechanical constraint and muscle fatigue problems are proposed for force feedback in a virtual reality. The device was designed to provide force feedback up to 4.8 N and 2.6 N each to the thumb and forefingers. The main objective of the HMI is to make unnecessary mechanical structures to attach on the hand or fingers. It employs custom EMSs and an interface arranged in the forearm. In this work, major muscle groups such as extensor pollicis brevis (EPB), extensor indicis proprius (EIP), flexor pollicis longus (FPL) and flexor digitorum profundus (FDP) are selected for efficient force feedback and controlled individually. For this, a human muscular-skeletal analysis was performed and verified. The validity of the proposed multi-channel EMS based HMI was evaluated thorough various experiments with ten human subjects, interacting with a virtual environment.

• 제어로봇시스템학회논문지
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• 제16권9호
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• pp.840-845
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• 2010

This paper proposes the method indirectly measuring the operating force of the end-effect tip of surgical robot instrument which conducts the surgical operation in the body on behalf of the surgeon's hand. Due to the size and safety obligation to the surgical robot instrument, it is difficult to measure the operation force of its tip like grasping force. However the instrument is driven by cable-pulley torque transmission mechanism and when some force is occurred at the tip, then the reaction force appears on the cable as additional tension. Based on this phenomenon, this paper proposes a method to estimate the operating force from measuring reaction force against the driving motor by using a loadcell. And it induces mathematical equation to calculate the force from loadcell by approaching the modulus of elasticity to high order polynomial. And this paper proves the validity of proposed mechanism by experimental test.

• 한국소음진동공학회논문집
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• 제22권12호
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• pp.1220-1226
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• 2012

This paper proposes a novel type of tactile device utilizing magnetorheological(MR) fluid which can be applicable for haptic master of minimally invasive surgery(MIS) robotic system. The salient feature of the controllability of rheological properties by the intensity of the magnetic field(or current) makes this potential candidate of the tactile device. As a first step, an appropriate size of the tactile device is designed and manufactured via magnetic analysis. Secondly, in order to determine proper input magnetic field the repulsive forces of the real body parts such as hand and neck are measured. Subsequently, the repulsive forces of the tactile device are measured by dividing 5 areas. The final step of this work is to obtain desired force in real implementation. Thus, in order to demonstrate this goal a neuro-fuzzy logic is applied to get the desired repulsive force and the error between the desired and actual force is evaluated.

• Journal of Welding and Joining
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• 제33권3호
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• pp.40-46
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• 2015

Welding is one of the most fundamental and necessary work in the industry that demand sophistication of skilled workers. This study is to introduce welding simulator as a training tool, to verify its effectiveness and to measure satisfaction of the trainees. A group of freshman students at a Korea Polytechnics College in their twenties with less experience of welding participated in the study. They were divided into two groups and took a traditional training course (comparison group) and a training course with welding simulator applied reality/haptic technology (experimental group) for same hours respectively. To evaluate training effect, a national certificate test and a survey based on Phillips' ROI (Return on Investment) methodology were conducted by the students and the college respectively. And satisfaction survey among the students based on Kirkpatrick's Four-Level Evaluation Model was also carried out. The results showed that all students in the experimental group passed the national certificate test and the ROI of the experimental group for five years were 110% higher than the comparison group. Furthermore, 25% more students in the experimental group replied "very satisfied" about the overall training course and 75% more students in the same group found that the simulation was very similar to the real welding.

• 한국CDE학회논문집
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• 제16권5호
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• pp.370-379
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• 2011

The increasing complexity of complex buildings, such as high-rise buildings and underground subway stations, presents new challenges to firefighters. In a fire in complex buildings, the importance of the collaboration between firefighters is clear. The increased demand on firefighter training for such environment is now evident. Due to cost, time, and safety issues, it is impossible to experience a real fire in such environments for training. In addition, the use of real fire for training does not enable repeatable training and the evaluation of the training is difficult. We developed a team-based firefighter training simulator for complex buildings using the virtual reality technology. It provides the training and evaluation of firefighting and mission-based team training. To model real fire phenomena in virtual space, a numerical analysis method based on fire dynamics is used. To achieve an immersive virtual environment, an augmented reality technique for the compensation of real world image and a haptic technique for heat experience are adopted. The developed training simulator can help the firefighter to respond to large and complex firefighting scenarios, while maintaining the safety of the trainees.

• 복식문화연구
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• 제20권1호
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• pp.121-127
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• 2012

When people are asked to described certain textiles, they frequently refer to the expressions of its properties such as attractiveness, uniqueness, shininess, robustness, comfortability, and so on. It shows how senses play important role in it. Human employs their senses when interacting with textiles, most notably visual and tactile/ haptic to absorb its expressive properties. Yet, our sensorial experiences may amplify when interacting with those of traditional textiles, such as batik, as we can entice sensations when seeing its motifs and patterns, smelling its materials, and touching its surfaces. The multi-sensorial importance of seeing, smelling, and touching in the interaction with and experience of textiles suggests that one should address senses in a systematic way when evaluating users' perception on traditional textiles. To address this issue, the paper proposes the incorporation of Kansei Engineering (KE) approach for identifying multi-sensorial experiences on the expressive properties of traditional textiles, using batik as a case of study. KE approach address person's psychological understanding when observing things in order to analyze and study the inherent relationship between person's perceptual knowledge and objects evaluated. This paper outlines the use of KE approach in correlating sensorial perceptions when experience with traditional textiles and ultimately expose users' preferences toward them. Background of KE approach on textiles will be explored and its application for the multi-sensorial investigation of traditional textiles will be discussed.