• 한국정보과학회논문지:소프트웨어및응용
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• 제34권10호
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• pp.910-917
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• 2007

인간-로봇 상호작용에서 접촉은 인간에게 정서적 안정을 줄 수 있는 중요한 상호작용 방법 중 하나이다. 그러나 지금까지 음성과 영상을 기반으로 인간-로봇 상호작용이 이루어지는 연구가 대부분이었다. 본 논문에서는 접촉을 통한 인간-로봇 상호작용을 위해 인간의 접촉행동을 인식하는 방법을 제안한다. 제안한 인식 방법에서 인식 과정은 전처리 단계와 인식 단계로 나뉜다. 전처리 단계는 접촉감지부에서 생성된 데이타로부터 인식할 수 있는 특징들을 계산하는 단계이고 인식 단계는 인식기를 통해 접촉행동으로 분류하는 단계이다. 접촉감지부는 힘 센서인 FSR 센서를 이용하여 제작하였고 인식기는 신경망 모델인 다층퍼셉트론을 사용하였다. 실험은 남자 여섯 명에 의해 생성된 세 가지 접촉행동; '때리다', '쓰다듬다', '간질이다' 데이타를 가지고, 사람별로 인식기를 생성하여 cross-validation으로 평가한 결과 82.9%의 평균인식률을 보였고, 사람별 구분 없이 한 개의 인식기로 실험한 결과는 74.5%의 평균 인식률을 보였다.

• 한국정밀공학회지
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• 제16권2호통권95호
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• pp.130-137
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• 1999

In this paper we propose a method of determining the local curvature of a three dimensional convex object using the force and torque information obtained from the active touch of a robot hand. A technique for estimating two dimensional curvature of a convex object are introduced and the way of computing the three dimensional curvature from the two dimensional vurvatures is presented. Also, we develop an experimental system consisting of a finger and verify the effectiveness of the proposed method experimentally.

• 대한물리치료과학회지
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• 제29권2호
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• pp.20-27
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• 2022

Background: The purpose of the present study was to determine whether balance training combined with light touch improves the postural sway and gait speed in stroke patients. Design: Randomized Controlled Trial Study Methods: The current study included 40 stroke patients, who were randomly divided into two groups: the balance training with light touch (LT) group (n=20) and the balance training with heavy touch (HT) group (n=20). Both groups performed balance training on a stable and unstable ground. Additionally, the LT group provided light touch stimulation, and the HT group provided heavy touch stimulation. All the participants underwent 20 sessions of STS training (thirty minutes, five days per week for four weeks). In this study, postural sway was measured using a force platform, and walking speed was measured using a 10 meter walk test. Results: The improvements in postural sway and gait speed were observed to be significantly greater in the LT group, compared to the HT group (p<0.05). Conclusion: The results of the current study imply that balance training combined with light touch is a beneficial and effective therapeutic modality that can be employed to improve the postural sway and gait speed in stroke patients.

• Physical Therapy Rehabilitation Science
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• 제5권3호
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• pp.138-142
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• 2016

Objective: The purpose of this study was to investigate how light touch with a finger affects balance ability when a posture is maintained in the condition of visual information blockage and to provide a fundamental material for developing balance ability in the process of rehabilitation treatment. Design: Cross-sectional study. Methods: The study subjects were 17 healthy men and women in their twenties and thirties who were studying at S University in Seoul. The system was comprised of an equilateral triangular force platform. Subjects were asked to step on the foot position of the force platform (Good Balance, Finland) barefooted for 30 seconds, with eyes closed, hands hanging down loosely, and feet comfortably apart. It was connected to a laptop by using Bluetooth technology. An experiment was conducted in the following three circumstances: 1) no-touch trial, 2) light touch to the back (T7 area), and 3) light touch to the middle finger of the left hand. Each subject was given a 10-minute break between consecutive measurements. The experimental circumstances were performed randomly. Anteroposterior sway (APSV), mediolateral sway velocity (MLSV), and velocity moment (VM) were measured. Results: The APSVs (mm/s) were $9.32{\pm}3.37$ and $5.45{\pm}2.98$; the MLSVs (mm/s), $6.39{\pm}3.35$ and $3.31{\pm}2.48$; and VM ($mm^2/s$), $17.13{\pm}11.75$ and $6.76{\pm}8.31$ in the first and second experimental circumstances, respectively. APSV, MLSV, and VM values were significantly improved with the 1) no-touch trial and 2) light touch to the back trail conditions compared with the 3) light touch to the middle finger of the left hand condition (p<0.05). Conclusions: This study revealed that the balance ability for maintaining a body posture was influenced more by light touch to the back (T7) than by light touch with the sensitive fingertip and body sway diminished after visual information was blocked.

• 전자공학회논문지
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• 제52권3호
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• pp.206-212
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• 2015

본 논문에서는 ITO 터치 패널 센서를 로봇의 피부로 이용하여 로봇 팔을 제어하는 물리적 인간-로봇 상호작용 방법을 제안한다. 사람과 로봇간의 물리적 상호작용을 구현하기 위해서는 힘/토크 센서를 사용하는 방법과 작은 소자 타입의 센서를 배치하여 만든 촉각 센서를 사용하는 방법이 연구되고 있다. 하지만, 이러한 센서들은 가격적인 측면이나 성능적인 측면에서 장단점이 존재하며, 본 연구에서는 터치 패널을 로봇의 피부로 사용하여 물리적 상호작용을 하는 방법을 제안하고 전체적인 시스템을 구축하여 실험을 통해 힘/토크 센서의 정확성과 소자 타입 센서의 경제성을 보이고자 한다. 실험은 터치 패널에서 기준점을 잡아 제스처를 생성하여 로봇 팔을 제어하는 방법과 엔드이펙터에 장착하여 로봇 팔을 제어하는 방법에 대해 진행하였다. 이러한 실험을 통해 터치 패널을 이용한 교시 제어의 가능성도 확인하였다.

• 정보처리학회논문지:컴퓨터 및 통신 시스템
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• 제7권3호
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• pp.73-80
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• 2018

스마트폰의 대중화와 금융서비스의 간편화에 따라 모바일 금융 서비스를 이용하는 비중이 늘어나고 있다. 하지만 기존의 금융 서비스를 위해 개발된 보안 키패드는 확률 분석 공격이 가능하며 보안 취약성을 지니고 있다. 이에 따라 본 논문에서는 이중 터치를 기반으로 한 보안 키패드 제안하며 이를 구현하였다. 이에 앞서 국내 모바일 금융 서비스의 모바일뱅킹과 모바일 간편 결제 서비스에서 사용되는 기존 보안키패드의 종류를 알아보고 취약점을 분석하였다. 더불어 본 연구에서 제안한 이중터치보안키패드와 기존의 보안키패드의 안전성을 기존의 키패드 공격(Brute Force Attack, Smudge Attack, 키로깅 공격, 어깨너머공격, Joseph Bonneau)의 인증 프레임워크를 활용하여 비교하였다. 분석된 결과에 따라 본 논문에서 제안하는 이중 터치를 통한 보안 키패드가 높은 안전성을 보여줌을 확인할 수 있다. 이중 터치를 통한 보안 키패드를 활용하면 보다 안전한 금융서비스를 이용할 수 있으며 그 외 모바일 환경에서 이뤄지는 서비스에 적용하여 안전성을 높일 수 있다.

• 대한인간공학회지
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• 제35권6호
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• pp.551-568
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• 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.

• 대한의용생체공학회:의공학회지
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• 제32권4호
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• pp.312-318
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• 2011

The purpose of study was to evaluate effects for repetitive use of thumb according to two different input types (button and touch) of mobile phones. A total of eight young and healthy subjects (6 males and 2 females: $24.63{\pm}8.04$ years) volunteered, and force measurement on thumb using film type pressure sensor was carried out for an hour. Before the experiment De Quervain's syndrome test were performed to check the left and right muscles related with thumb motion and after measuring the pressing force fatigue feeling survey achieved. For a statistical analysis, 1-to-5 ranking scale was used to score the fatigue feeling. From the result of pressure measurement, forces acting on thumb in button type were 3.36 times (the right thumb) and 3.16 times (the left thumb) for the touch type. And the result of survey, fatigue by using the button type of mobile phone was largely triggered than by using touch type. The abductor pollicis brevis and the flexor pollicis brevis were found as common part of fatigue for repetitively using thumb during texting messages. In the further study, some quantitative fatigue comparisons for various input motions are required to analyze repetitive strain injury syndrome.

• 제어로봇시스템학회논문지
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• 제11권5호
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• pp.451-456
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• 2005

This paper describes three kinds of experiments and analysis of their results related to human tactile sensitivity using an integrated tactile display system. The device can provide vibration, normal pressure and lateral slip/stretch which are important physical quantities to sense texture. We have tried to find out the efficient method of stimulating, limitation of surface discrimination by kinesthetic farce feedback and the effectiveness of the combination of kinesthetic force and tactile feedback. Seven kinds of different stimulating methods were carried out and they are single or combination of the kinesthetic force, normal static pressure, vibration, active/passive shear and moving wave. Both prototype specimen and stimulus using tactile display were provided to all examinees and they were allowed to answer the most similar sample. The experimental results show that static pressure is proper stimulus for the display of micro shape of the surface and vibrating stimulus is more effective for the display of fine surface. And the sensitivities of active touch and passive touch are compared. Since kinesthetic force feedback is appropriate to display shape and stiffness of an object, but roughness display has a limitation of resolution, the concurrent providing methods of kinesthetic and tactile feedback are applied to simulate physical properties during touching an object.

• 전력전자학회:학술대회논문집
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• 전력전자학회 1998년도 전력전자학술대회 논문집
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• pp.116-122
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• 1998

This Paper presents some of challenges of creating feedback force, through manipulation of master manipulator, allowing the user to feel objects within a virtual environment. A sense of touch for the virtual environment. A sense of touch for the virtual environments was generated by a virtual compliance control method. In theis system data communication between the master and slave, we used TCP protocol. In the experiments. A position error between the master and slave arm was about $13.56^{\circ}$ in case that the master and slave arm had not compliance properties of the virtual object, while they have the its properties the position error reduced by $2.43^{\circ}$.