• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2006년도 추계학술대회논문집
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• pp.422-427
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• 2006

This paper presents force-feedback control performance of a haptic device in virtual environment of minimally invasive surgery(MIS). As a first step, based on an electrorheological(ER) fluid and spherical geometry, a new type of master device is developed and integrated with a virtual environment of MIS such as a surgical tool and human organ. The virtual object is then mathematically formulated by adopting the shape retaining chain linked(S-Chain) model. After evaluating reflection force, computational time, and compatibility with real time control, the virtual environment of MIS is formulated by interactivity with the ER haptic device in real space. Tracking control performances for virtual force trajectory are presented in time domain, and theirtrackingerrorsareevaluated.

• 한국소음진동공학회논문집
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• 제16권12호
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• pp.1286-1293
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• 2006

This paper presents force-feedback control performance of a haptic device in virtual environment of minimally invasive surgery(MIS). As a first step, based on an electrorheological (ER) fluid and spherical geometry, a new type of master device is developed and integrated with a virtual environment of MIS such as a surgical tool and human organ. The virtual object is then mathematically formulated by adopting the shape retaining chain linked(S-chain) model. After evaluating reflection force, computational time, and compatibility with real time control, the virtual environment of MIS is formulated by interactivity with the ER haptic device in real space. Tracking control performances for virtual force trajectory are presented in time domain.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2753-2758
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• 2003

Tactile sensation is essential for many manipulation and exploration tasks not only in a real environment but also in a virtual environment. In this paper, we discuss a conceptual design of an integrated tactile display system. The system comprises two parts: a 2 DOF force feedback device for kinesthetic display and a tactile feedback device for displaying the normal stimulation to skin and the skin slip/stretch. Psychophysical experiments measure the effects of fingerpad selection, the direction of finger movements and the texture width on tactile sensitivity. We also investigate characteristics of lateral finger movement while subjects perceive different textures. From the experimental results, the principal parameters for designing a tactile display are suggested. A tactile display device is implemented using eight piezoelectric bimorphs and a linear actuator, and is attached to a 2 DOF translational force feedback device to simultaneously simulate texture and stiffness of the object.

• 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.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.486-489
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• 1996

The objective of this paper is to design a force feedback controller for bilateral control of a master-slave manipulator system. In a bilateral control system, the motion of the master device is followed by the slave one, while the force applied to the slave is reflected on the master. In this paper, a fuzzy logic controllers applied to the system. Using the fuzzy logic controller, the knowledge of the system dynamics is not needed. Simulations and experimental results show the performance of the proposed controller.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제3권2호
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• pp.161-165
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• 2003

In this paper, we investigate the issues on the design and implementation of tele-operation system based on the haptic interface. Here, the 3-DOF haptic device and the X-Y-Z stage are employed as master controller and slave system respectively. For this master-slave system, the force feedback algorithm, the modeling of virtual environments and the control method of X-Y-Z stage are presented. In this paper, internet network is used for data communication between master and slave. We construct virtual environment of the real convex surface from the force-feedback in controlling the X-Y-Z stage and measuring the force applied by the 3-DOF haptic device.

• 제어로봇시스템학회논문지
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• 제7권2호
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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.

• 대한전기학회논문지:시스템및제어부문D
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• 제51권10호
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• pp.439-445
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• 2002

In this paper force feedback control system is investigated for improving the quality of the haptic feedback in virtual reality applications. We suggested the method of controlling the haptic device and modelling the virtual environment. Haptic device is composed of five bar link structure, voice coil motor, control board, and virtual environment modeling program. We applied voice coil motor in the actuating system for simple structure and easy control. Virtual environment modelling is constructed in PC, and the control signals of the actuators and the encoder data are transferred to the control system through USB. Experiment is performed to evaluate the characteristics of the haptic device.

• 정보처리학회논문지:소프트웨어 및 데이터공학
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• 제12권6호
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• pp.275-284
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• 2023

가상 현실 시뮬레이션은 다양한 분야에서의 교육과 훈련에 활용이 되며, 특히 최근에는 의료 분야에서 많이 사용되고 있다. 교육/훈련용 시뮬레이터는 의사가 실제 수술 도구를 이용하여 실제 환자에 대해 처치를 하는 것과 같은 느낌이 나게 하는 촉감/역감 생성 및 영상/음향 출력 하드웨어와 여기에 실감 나는 영상과 촉감을 생성해주는 소프트웨어로 이루어진다. 기존의 시뮬레이터들은 수술 시에 사용되는 다양한 수술 도구들을 모사하기 위해 다양한 형태의 하드웨어들을 사용해야 하므로 복잡하고 비용이 많이 소요되는 문제가 있다. 이 논문에서는 포스 피드백 장치와 변형 가능한 햅틱 컨트롤러를 이용한 치과 수술 시뮬레이션 시스템을 제안한다. 햅틱 하드웨어들은 수술 도구와 수술 부위의 충돌 여부를 파악하고 그에 따른 저항감과 진동감을 제공한다. 특히 길이 변화, 굽힘과 같은 변형이 가능한 햅틱 컨트롤러는 여러 수술 도구들의 형태에 따라 느껴지는 다양한 감각을 표현할 수 있다. 사용자가 햅틱 피드백 장치를 조작하면 햅틱 피드백 장치의 움직임이나 버튼 클릭 등의 이벤트가 시뮬레이션 시스템에 전달되어 치과용 수술 도구와 구강 내부 모델들 사이의 상호작용이 발생하고 이에 따른 햅틱 피드백이 햅틱 피드백 장치로 전달된다. 이러한 기반 기술들을 활용하여 정교한 3차원 모델로 표현된 가상 환경에서 대표적인 치과 수술기법인 매복 사랑니 발치 수술의 현실적인 훈련 경험을 제공한다.

• 로봇학회논문지
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• 제16권1호
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• pp.12-16
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• 2021

Attempts are being made to provide various tactile feedbacks to user. In particular, a variety of soft actuators are being inserted into the tactile feedback device to give a more flexible, soft and strong stimulation. In this study, a basic study was performed to utilize a hydraulically amplified self-healing electrostatic (HASEL) actuator as a tactile feedback actuator. The HASEL actuator showed great displacement and force with a simple circuit configuration. In particular, by making the actuator in a circular shape, the angle was reduced and the electrode was arranged in a ring shape to maximize the displacement of the central part. As a result, the HASEL actuator showed a displacement difference according to the input waveform. In addition, in order to use it safely as an actuator for tactile feedback, we covered the surface with silicone and confirmed that the actuator works well. Using these actuators, it will be possible to manufacture a lightweight, portable tactile feedback device.