• Journal of Internet Computing and Services
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• v.18 no.3
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• pp.37-48
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• 2017

Touch interface has been introduced as one of the most common input devices that are widely used in the Smart Device. Recently Force-Touch interface, a new approach of input method, having the power recognition mechanism, has been appeared in Smart industries. Force-Touching determining multiple things (the geographical and pressure values of touching point) in one touching act allows users to provide more than one input methods in a limited environments. Force-Touching Device is required different user communicational interaction than other common Smart devices because it is possible to recognize various inputs in the one act. It means that Force-Touching is only able to understand and to use the pressure sensitive values, not other Smart input methods. So, we built Force-Touch-Cover that makes typical Smart-Device to have Force-Touching interfaces. We analysis the accuracy of the Force-Touching-Cover's sensor and also assessment the changes in pressure values depending on the pressure position. Via this Paper, We propose the implement of user-oriented Force-Touching interface that is based on users' feedback as our conclusion.

• Proceedings of the KIPE Conference
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• 1999.07a
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• pp.84-87
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• 1999

This paper proposes an interfaces control system to drive a ultrasonic motors(USMs). To touch surfaces and objects created within a virtua environment, the 3 DOF force-reflecting interfaces provides force feedback to users, so to feel touching real things. To effectively display the mechanical impedance of the human hand we need a device with specific characteristics, such as low inertia almost zero friction and very high stiffness. As an actuator for direct drive method, the USMs have many good advantages satisfied these conditions over conventional servo motors. To estimate capability of this interface, we did an experiment. The device works very well, as user are able to detect the edge of the wall and the stiffness of the button.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1714-1717
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• 1997

A human operator is able to perform some tasks smoothly with force feedvack for the teleoperation or a virtual device in a the virtual environments. This paper describes a virtual force generation method with which operator can feel the interactive force between virtula robot and artificial environments. A virtual force generation algortihm is applied to generate the contact force at the arbitrary point of virtual robot, and the virtual force is displayed to the human operator via a tendon master arm consisted with 3 motors. Some experiments has beencarried out to verify the effectiveness of the force generation algorithm and usefulness of the developed backdrivable master arm.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.05a
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• pp.349-350
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• 2010

• The Journal of Korea Robotics Society
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• v.8 no.3
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• pp.186-196
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• 2013

Since its introduction (e.g., [4, 6]), virtual coupling technique has been de facto way to connect a haptic device with a virtual proxy for haptic rendering and control. However, because of the single dependence on spring-damper feedback action, this virtual coupling suffers from the degraded transparency particularly during contact tasks when large device/proxy-forces are involved. In this paper, we propose a novel virtual coupling technique, which, by utilizing passive decomposition, reduces device-proxy position deviation even during the contact tasks while also scaling down (or up) the apparent inertia of the coordinated device-proxy. By doing so, we can significantly improve transparency between multiple degree of freedom (possibly nonlinear) haptic device and virtual proxy. In other to use passive decomposition, disturbance observer of [3] is adopted to estimate human force with some dead-zone modification to avoid "winding-up" force estimation in the presence of device torque saturation. Some preliminary experimental results are also given to illustrate efficacy of the proposed technique.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.3 s.174
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• pp.653-660
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• 2000

The automatization by industrial robot of today is merely rely on to the simple position repeating works, but requirements of research and development to the force control which would adapt positively to various restriction or contacting works to environment. In this paper, a learning control algorithm using, neural networks is proposed for the position and force control by a direct-drive robot. The proposed controller is the feedback controller to which the learning function of neural network is added on to and has a character of improving controller's efficiency by learning. The effectiveness of the proposed algorithm is demonstrated by the experiment on the hybrid position and force control of a parallelogram link robot with a force sensor.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1662-1667
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• 2005

In this paper, analysis, design, control and prototype construction of a wearable wire-driven haptic interface called HapticPen is discussed. This device can be considered as a wire driven parallel mechanism which three wires are attached to a pen-tip. Wire tensions are provided utilizing three DC servo motors which are attached to a solid frame on the user's body. This device is designed as input as well as output device for a wearable PC. User can write letters or figures on a virtual plate in space. Pen-tip trajectory in space is calculated using motor encoders and force feedback resulting from contact between pen and virtual plate is provided for constraining the pen-tip motion onto the virtual plane that can be easily setup by arbitrary non-collinear three points in space. In this paper kinematic model, workspace analysis, application analysis, control and prototype construction of this device are presented. Preliminary experiments on handwriting in space show feasibility of the proposed device in wearable environments.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.251-255
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• 2003

This paper presents the design, fabrication, and calibration of a piezoelectric polymer-based sensorized microgripper. Electro discharge machining technology is employed to fabricate super-elastic alloy based micro gripper. It is tested to present improvement of mechanical performance. For integration of force sensor on the micro gripper, the sensor design based on the piezoelectric polymer PVDF film and fabrication process are presented. The calibration and performance test of force sensor integrated micro gripper are experimentally carried out. The force sensor integrated micro gripper is applied to perform fine alignment tasks of micro opto-electrical components. It successfully supplies force feedback to the operator through the haptic device and plays a main role in preventing damage of assembly parts by adjusting the teaching command.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.27 no.10
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• pp.1772-1777
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• 2003

This paper presents the design, fabrication, and calibration of a piezoelectric polymer-based sensorized microgripper. Electro discharge machining technology is employed to fabricate super-elastic alloy based micro gripper. It is tested to present improvement of mechanical performance. For integration of force sensor on the micro gripper, the sensor design based on the piezoelectric polymer PVDF film and fabrication process are presented. The calibration and performance test of force sensor integrated micro gripper are experimentally carried out. The force sensor integrated micro gripper is applied to perform fme alignment tasks of micro opto-electrical components. It successfully supplies force feedback to the operator through the haptic device and plays a main role in preventing damage of assembly parts by adjusting the teaching command.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.12 s.177
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• pp.34-41
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• 2005

There is a strong demand fur the contactless transportation device fur a hard disk and silicon wafer without contaminating and damaging them. To fulfill this requirements, A transportation device fur them has been proposed. But the device needs many of costly displacement sensors positioned along the transportation interval and possesses a very complicated controller and driving scheme. To overcome those kinds of drawback, in this paper, we present a very simple and cost-effective transportation device which only consists of a linear guide, very simple electrostatic suspension system and driving circuit of stepping motor. The principle of stable suspension by relay feedback control, derivation of lateral restoring force, the design of transportation system are described, fellowed by the experimental system. Experimental results show that a 3.5-inch hard disk has been transported with a speed of approximately 20mm/s while being suspended stably at a gap of 0.25mm.