• Journal of the Korea Computer Industry Society
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• v.5 no.2
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• pp.217-226
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• 2004

This paper proposes the electric stimulus tactile apparatus system(TESTAS) loaded on the haptic interface using ultrasonic motors (USMs) To touch the virtual object like wall in graphic, the 6 DOF haptic interface provides force feedback to users as if it is real. But the case of sharp virtual object like a puncture, it could not provided the sense of pain, but only the reaction-force. After the TESTAS had been loaded on this haptic interface, it could provide not only the force but also the pain to users. In this way, when users take the haptic and tactile informations at the same time, they easily have a correct understanding of virtual object.

• Journal of KIISE:Software and Applications
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• v.30 no.11
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• pp.1044-1053
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• 2003

A virtual science experience space(VSES) using virtual reality technology including haptic device is proposed to overcome limits which the existing science education has and to improve the effect of it. Four example scientific worlds such as Micro World, Friction World, Electromechanical World and Macro World are demonstrated by the developed VSES. Van der Waals forces in Micro World and Stick-Slip friction in Friction World, the principle of induction motor and power generator in Electromechanical World and Coriolis acceleration that is brought about by relative motion on the rotating coordinate are modeled mathematically based on physical principles. Emulation methods for haptic interface are suggested. The proposed VSES consists of haptic device, HMD or Crystal Eyes and a digital computer with stereoscopic graphics and GUI. The proposed system is believed to increase the realism and immersion for user.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.10a
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• pp.365-366
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• 2006

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.13 no.1
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• pp.111-118
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• 1999

Throughout this thesis, I describe the design, fabrication, and evaluation of the 3 DOF farce-reflecting haptic interface using USMs(ultrasonic motors). This haptic interface allows a htmlaIl "observer" to explore and interact with a virtual environrrent for the sense of touch. To effectively display the mechanical impedance of the htmlaIl hand we need a haptic device with specific characteristics, such as low inertia, alrmst zero friction and very high stiffness. USMs have attracted considerable attention as the actuator satisfied these conditions. An observer may grasp the end effector of revice and interact with surfaces and objects created within a virtual environment The revice provires force feedback, allowing users to "feel" objects within the environment. The device works very well, as users are able to detect the edge of the wall, the stiffness of the button and the puncture. TIle force-reflecting haptic interface could be suitable as a master for micro-surgery or as an interface to virtual reality training systems.

• 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.

• 한국HCI학회:학술대회논문집
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• 2006.02a
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• pp.266-274
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• 2006

본 논문은 새로운 햅틱 API 인 "K-Touch"의 개발에 관한 것이다. 그래픽 하드웨어 기반의 핵심 역감 알고리즘을 기반으로 개발된 K-Touch API 는 가상 환경을 구성하는 다양한 데이터 형식(3D polygon model, volume data, 2.5D depth image)에 대한 햅틱 상호작용을 가능하게 하고, 새로운 햅틱 알고리즘 및 장치 개발에 필요한 소프트웨어 확장성을 제공함과 동시에 사용자가 쉽고 빠르게 햅틱 응용분야를 개발할 수 있도록 설계되었다. 아울러 햅틱 감각의 중요 요소인 역감 및 촉감 상호작용을 위해 기존의 햅틱 SDK 및 API 와 달리 역/촉감을 동시에 제시할 수 있는 알고리즘이 개발되었다. 본 논문에서 제안하는 새로운 햅틱 API 의 효용성을 검증하기 위해 다양한 응용분야의 예를 구현하였다. 새로운 햅틱 API 인 K-Touch 는 사용자 및 연구자에게 보다 효율적으로 햅틱 연구를 진행 할 수 있도록 도움을 주는 툴(Tool)로써 중요한 역할을 할 것으로 기대된다.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.2
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• pp.160-167
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• 2001

This paper presents control and evaluation of a new haptic device with a 6-DOF parallel mechanism for interfacing with virtual reality. This haptic device has low inertial, high bandwidth compactness, and high output force capability mainly due to of base-fixed motors. It has also wider orientation workspace mainly due to a RRR type spherical joint. A control method is presented with gravity compensation and with force feedback by an F/T sensor to compensate for the effects of unmodeled dynamics such as friction and inertia. Also, dynamic performance has been evaluated by experiments. for force characteristics such as maximum applicable force, static-friction force, minimum controllable force, and force bandwidth Virtual wall simulation with the developed haptic device has been demonstrated.

• Broadcasting and Media Magazine
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• v.11 no.4
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• pp.118-131
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• 2006

With rapid development in ultra fast communication and digital multimedia, the realistic broadcasting technology, that can stimulate five human senses beyond the conventional audio-visual service is emerging as a new generation broadcasting technology. In this paper, we introduce a haptic broadcasting system and related core system and component techniques by which we can 'touch and feel' objects in an audio-visual scene. The system is composed of haptic media acquisition and creation, contents authoring, in the haptic broadcasting, the haptic media can be 3-D geometry, dynamic properties, haptic surface properties, movement, tactile information to enable active touch and manipulation and passive movement following and tactile effects. In the proposed system, active haptic exploration and manipulation of a 3-D mesh, active haptic exploration of depth video, passive kinesthetic interaction, and passive tactile interaction can be provided as potential haptic interaction scenarios and a home shopping, a movie with tactile effects, and conducting education scenarios are produced to show the feasibility of the proposed system.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.1
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• pp.1178-1186
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• 2001

This paper presents design and analysis of a 6 degree-of-freedom new haptic device using a par-allel mechanism for interfacing with virtual reality. The mechanism is composed of three pantograph mecha-misms that, driven by ground-fixed servomotors. stand perpendicularly to the base plate. Three spherical joints connect the top of the pantograph with connecting bars, and three revolute joint connect connecting bars with a mobile joystick handle. Forward and inverse kinematic analyses have been performed and the Jacobian matrix is derived by using the screw theroy. Performance indices such as GPI(Global Payload Index), GCI(Global Conditioning index), Traslation and Orientation workspaces, and Sensitivity are evaluated to find optimal pa-rameters in the design stage. The proposed haptic mechanism has better load capability than those of the ex-isting haptic mechanisms due to the fact that motors are fixed at the base. It has also wider orientation work-space mainly due to RRR type spherical joints.

• Science of Emotion and Sensibility
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• v.13 no.3
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• pp.429-440
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• 2010

It is known that as many as 1 in 91 children are diagnosed with an autistic spectrum disorder, and the incidence rate of the autistic spectrum disorder is much higher than that of cancer in Korea. It is necessary to develop a novel technology to sense their emotional status and give proper psychological diagnosis and therapy, since the children with autistic spectrum disorder usually do not express their own emotional status. This article presents the state-of-the-arts on the affective computing technologies that include recognition of emotional status through bio-sensing and virtual affective agent modeling, and then proposes a novel system architecture for diagnosis and therapy of autistic spectrum disorder. The diagnosis and therapy system of autistic spectrum disorder is composed of bio-sensing module, virtual environment module with affective agents, and haptic interface module. The architecture proposed in this paper will enhance the objectivity to diagnose autism spectrum disorders, and enable continuous treatment in daily life.