• Transactions of the Korean Society of Mechanical Engineers A
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• v.31 no.8
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• pp.855-861
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• 2007

Haptic rendering is a process providing force feedback during interactions between a user and a virtual object. This paper presents a real-time haptic rendering technique for deformable objects based on visual information of intervention between a tool and a real object in a remote place. A user can feel the artificial reaction force through a haptic device in real-time when a slave system exerts manipulation tasks on a deformable object. The models of the deformable object and the manipulator are created from the captured image obtained with a CCD camera and the recognition of objects is achieved using image processing techniques. The force at a rate of 1 kHz for stable haptic interaction is deduced using extrapolation of forces at a low update rate. The rendering algorithm developed was tested and validated on a test platform consisting of a one-dimensional indentation device and an off-the shelf force feedback device. This software system can be used in a cellular manipulation system providing artificial force feedback to enhance a success rate of operations.

• Journal of Adhesion and Interface
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• v.24 no.2
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• pp.41-53
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• 2023

The deformable devices refer to the devices that can maintain their initial performance even when stretched or bent. Among the materials used as conductor in deformable devices, Ga-based liquid metal is one of the most promising materials because it can provide not only high conductivity and deformability but also low toxicity. In this paper, we introduce Ga-based liquid metals and then discuss the recent research trend in deformable devices composed of Ga-based liquid metal.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.125-129
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• 1996

This paper presents the haptic rendering algorithm which gives the feel information to the operator by manipulating a virtual tool with a haptic device in the simulated environment. The movement of a virtual tool grasped by the operator, which is modeled as a square is displayed in the graphic screen of a computer and the virtual environment is modeled as deformable thin film. When the tool contacts with the virtual environment, the operator is forced to feel the contact and the feature of the deformed virtual environment through the torque control of th haptic device. Contact situations are modeled as close as to the reality considering friction, elasticity and multiple contacts. Several experiments are conducted and the effectiveness of the proposed algorithm is confirmed.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.768-773
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• 2004

Developed in this paper a mass-spring engine to represent and manipulate deformable objects. The deformable object model is a basic technology in the ‘Tangible Space Initiative’. The mass-spring model consists of structural, shear and bending springs. Various forces like external, friction, gravity, spring, and damping forces are considered and collision with planes and spheres are treated. When a sphere collide mass-spring model, mass-spring engine calculates external force to interface mass-spring model. A prototype system is implemented in C on an MS windows machine.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.51.2-51
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• 2002

$\textbullet$ Introduction $\textbullet$ Simulator Architecture $\textbullet$ Navigation and Collision Detection $\textbullet$ Deformable Model and Force Reflection $\textbullet$ 4-DOF Haptic Device $\textbullet$ Conclusion

• ETRI Journal
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• v.29 no.6
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• pp.817-819
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• 2007

A low-stress organic polymer membrane is proposed as a deformable mirror that can be incorporated into a cellular phone camera to achieve auto focusing without motor-type moving parts. It is demonstrated that our fabricated device has an optical power of 20 diopters and can switch focus in 14 ms. The surface roughness of the organic membrane is measured around 15 nm, less than ${\lambda}$/20 of the visible light. With curve fitting, we found that the actuated membrane is almost parabolic in shape, which leads to less aberration than spherical surfaces. It is suitable for reflective-optics systems.

• Proceedings of the KSME Conference
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• 2004.04a
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• pp.557-562
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• 2004

For constructing virtual environment it is more natural to model object as deformable body than as rigid body. High accuracy of simulation of model and low-latency computational cost for real-time simulation should be guaranteed. We pre-compute Green function through finite element analysis of deformable body and it is possible to simulate deformation of body in real-time environment using Capacitance Matrix Algorithm. Also, the capacitance matrix algorithm enables to construct the haptic rendering which serves the reaction force through a haptic device. The Newmark scheme is used for the more realistic haptic rendering and dynamic simulation in real-time.

• Proceedings of the Optical Society of Korea Conference
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• 2001.02a
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• pp.202-203
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• 2001

21세기 고도 정보화 사회는 실감형 3차원 입체 멀티미디어 서비스로 발전할 것으로 전망됨에 따라 3차원 입체 영상 디스플레이 기술에 대한 관심이 높아져서 국내외적으로 기술개발이 활발하게 진행되고 있다. 최근 3차원 영상 디스플레이 시스템을 구현하기 위해 입력이미지는 공간광변조기에 의해 디스플레이 되는데, 이때 사용될 수 있는 공간광변조기는 LCD, DMD,(deformable mirror device), MOD(magento optic device)등이 있다. (중략)

• 한국HCI학회:학술대회논문집
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• 2009.02a
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• pp.542-546
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• 2009

This paper introduces a Mixed-Reality based Software technology in Smart-Phone Environment. The field of Mixed-Reality in mobile environment is relatively young. but Cause to develop Mobile infra and improvement of mobile device, open-platform mobile OS, the request extended This paper suggest the method for Marker Detection and Marker Tracking method. This method is the one of some kind of a base-technology in Mixed Reality. this method is to effect to location and registration. This paper suggest the method in low CPU computing power. Using a deformable searching area, the method improve computing power. and Using a Cam-shift algorithm, we suggest a calibration free method.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.51 no.3
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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.