• International Journal of Aerospace System Engineering
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• 제7권1호
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• pp.1-6
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• 2020

A deployment mechanism is designed to stow into a small volume efficiently. The panels are fabricated by carbon fiber reinforced plastics (CFRPs). The parameters for the deployment are determined by considering the number of panels, the folding/twisting angles, and the driving force for a deployment device. In addition, a surface accuracy of the manufactured reflector is measured through a photogrammetry methodology. The deployment behavior of CFRP reflector is observed by using the zero-gravity device which compensates the gravity effect during the deployment. The zero-gravity device is constructed wire, motor, controller and loadcell. During the deployment of the reflector panel, the wire and motor compensate for its weight by the feedback process of the controller. Tests result show that a zero-gravity device compensates for the weight of the panel during the deployment of the CFRP reflector.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.25.4-25
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• 2001

In this paper, a five degree-of-freedom haptic device is proposed. The proposed haptic device has a pen which is suspended by tensioned six strings. Human operator handles the pen. Six DC motors are used as actuators to generate tensions in six strings to make resultant force feedback at the pen to the human operator Six encoders are used for calculating the movement of the pen. A digital controller is used for generate control signals for the suitable tension in the six strings. A current amplifiers is used for amplifying the control signals. Cable-suspended system has advantages of structure simplicity (only with several strings driven by motors without using other tensioning mechanisms), low inertia, and high force-to-weight ratio. Pen-based system has advantages of compactness and ...

• 조명전기설비학회논문지
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• 제13권1호
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• pp.111-118
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• 1999

함반영 촉각장치(Force-Reflecting haptic Interface)는 인간이 컴퓨터에 의해 생성한 가상의 세계에 손의 위치 정보를 제공하고 가상의 손이 가상 환경에 접촉했을 때 인간에게 촉각을 전달하는 장치이다. 본 논문에서는 컴플라이언스 제어가 비교적 용이한 초음파 모터 액츄에이터를 사용하여 직접구동 방식으로 촉각장치를 설계하였다. 렌더링 알고리즘을 이용하여 가상의 벽, 가상 버튼, 가상 구멍 등의 기본적인 역감실험을 한 결과 힘 반영에 의한 역감을 제시받을 수 있었다.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2009년도 춘계학술대회 논문집
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• pp.280-281
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• 2009

Piezoelectric vibrators can be good replacements of electric motors to excite touch screen of a mobile device owing to small volume and low power consumption. One problem to be solved yet for real application is larger excitation force or moment than available currently. More efficient excitation by a piezoelectric vibrator could be achieved by operating at one of resonance frequencies of the system, which must also be as close as possible to frequency range where index finger is most sensitive and increasing transmission force or moment at that frequency. In this study, dynamic models are derived for the piezoelectric exciter and an adhesive viscoelastic layer, which connect the exciter to the screen. The adhesive layer is modeled as distributed stiffness by considering its geometric shape to relative to the piezoelectric exciter. Then, equations of motion for the piezoelectric exciter and the adhesive layer are derived using Hamilton's principle. Based on this model, dynamic characteristics of the exciter will be designed to maximize the force or moment transmitted onto the screen structure.

• 한국산업정보학회논문지
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• 제17권1호
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• pp.11-20
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• 2012

Due to the development of internet technology, the online business trade becomes an active area. Online negotiation supporting systems have been developing very actively in recent years to meet the growing needs. We have been studying on the effect that the haptic device brings about in interaction through online negotiation between two parties. In order to meet the online negotiation's requirements, the developed interface should be able to protect user's anonymity, convey user's emotion and make the scene alive.In this study, we adopt haptic interaction as a means of conveying emotion in an online negotiation between Japanese and Chinese people. In this study, our goal is to investigate the effectiveness of haptic interaction in communications between Chinese and Japanese users and analyze the characteristis in operation the haptic device. We conducted online negotiation experiments with and without haptic interaction . The comparison experiments results show that the haptic feedback can help to convey the emotion and the sense of presence. The Chinese subjects' feedback for the questionaire concerning the emotional communication and the sense of presence varies slightly compared to the Japanese subjects. We also found when using the haptic device, the force feedback can influence subject's feelings.There is little significant difference between the advanced and the medium subjects in negotiation dialogues and the haptic device's operation, the beginner subjects are slightly at a disadvantage.

• 한국정밀공학회지
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• 제22권3호
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• pp.29-37
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• 2005

In this study, the control of the free surface deformation of a magnetic fluid for the change in electromagnetic force is discussed. The free surface of magnetic fluid is formed by the balance of surface force, gravity, pressure difference, magnetic normal pressure and magnetic body force. Magnetic fluid in characteristics of fluid adjusted to the opposite direction of the gravity direction. Thus, the device of a magnetic fluid proposed the complete zero-leakage sealing, oscillator for surface control, boundary layer control, MHD, flow control, flow using magnetic levitation system and surface actuator. This study show the deformation of surface rise due to the intensity of the magnetic field and possibility of two-dimensional control of magnetic fluid through the feedback data of hall sensor.

• 한국정밀공학회지
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• 제15권12호
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• pp.180-187
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• 1998

The stability and theoretical performance limits of the feedback controlled force reflecting haptic manipulator have been discussed. All the virtual environment which interact physically with the haptic system have its own stable performance limit. Three different realization of the interfaces have been compared using the driving point admittance. The haptic system which is separated from the human hand or finger is superior to its stable interaction provided that there is a means to apply a direct damping between the haptic manipulator and the human finger Electro-magnetic force is used for its digital implementation of the simple separated type haptic device. The stable limits of a virtual wall is calculated and experimental results show that there is performance limits in this implementation.

• 한국안전학회지
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• 제28권4호
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• pp.19-25
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• 2013

For safe remote control, information on remote environment has to be delivered to operator realistically, and there have been numerous research efforts on this respect. Among them, haptic technology can significantly enhance safety and overall effectiveness of remote operation by delivering various kinds of information on virtual or real environment to operator. In this study, remote control based on haptic feedback is applied to control of mobile robot moving according to the command from operator avoiding collision with environmental obstacles and maintaining safe distance from them using ultrasonic sensors. Specifically, a remote feedback control structure for mobile robot is proposed. The controller is based on the inner feedback loop that directly utilizes information on distance to obstacles, and the outer feedback loop that the operator directly commands using the haptic device on which the computed reaction force based on the distance information is acting. Effectiveness of the proposed remote control scheme using double feedback loops is verified through a series of experiments on mobile robot.

• 감성과학
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• 제5권1호
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• pp.1-7
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• 2002

본 논문에서는 가상환경하에서 사용자가 느끼는 물체의 무게감에 관해 연구하며, 3D mouse에 스프링의 탄성력을 이용한 근력입력장치를 새롭게 디자인한다. 근력입력장치는 몰입형 가상환경에서 사용자들의 악력을 이용하여 힘이나 무게를 느낄 수 있도록 고안된 장비이다. 본 논문에서는 물체의 부피와 무게감에 관한 실험, 물체의 재질과 무게감에 관한 실험, 근력입력장치의 악력과 무게감에 관한 실험 등 세 가지 실험을 수행하여 비교·분석한다. 실험결과의 통계적 분석 및 사용자 설문지 분석을 통해서 얻은 결론은 몰입형 가상환경하에서 부피와 재질은 사용자들에게 현실감 있는 무게감을 느끼는 데 중요한 역할을 하지 못하지만, 근력입력장치의 악력을 사용할 경우 현실감을 증대시키며 무게감을 느끼는 데 중요한 역할을 한다. 본 연구에서 제안한 근력입력장치는 무게감을 제공하는 데 효과적이다.

• 한국산학기술학회논문지
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• 제19권12호
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• pp.910-917
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• 2018

본 논문은 무인차량 원격 제어 시 실재감과 안전성을 향상시키기 위한 기술 개발 내용을 설명한 것이다. 일반적으로 무인차량 원격 운용 장치의 경우 조이스틱 형태의 장치나 간이 조향 휠로 구성하는 것이 대부분이다. 또한 차량 또는 장비를 직접 운전하는 감성을 구현하거나 현재 주행 상황을 운용 장치로 피드백하지 않기 때문에 사용자 입장에서는 이질감을 느낄수밖에 없었다. 최근 무인화 연구가 활발해짐에 따라, 이질감과 함께 현재의 주행 상황을 운전자에게 피드백하지 않아 발생하는 위험까지 제기되었고, 이러한 문제점을 제거하기 위한 힘반향 햅틱제어 기술의 필요성이 대두되었다. 따라서 본 연구에서는 기존의 무인차량 운용 장치가 가지고 있는 문제점을 해결하기 위하여 차량의 주행 상태를 고려한 힘반향 햅틱제어 기술을 제시하였다. 고려되어진 차량 주행 상태는 첫째로 차체 옆미끄럼각(${\beta}$)과 요레이트(${\gamma}$)와 같이 상태변수와 차량 동적 거동을 나타내는 파라미터를 포함하며, 위험 구역 접근, 장애물에 의한 조향 제한 등을 나타낼 수 있는 파라미터를 포함한다. 또한 햅틱제어 기술은 크게 일반 주행 상황, 위험 구역 접근 상황, 장애물에 의한 조향 제한 상황, 제어권 전환 상황 별 알고리즘으로 구성되며, 각 상황 별 천이 과정이 자연스럽도록 알고리즘을 구성하였다. 이러한 알고리즘을 검증하기 위하여 차량동역학 해석 시뮬레이션 툴을 활용, CAN 통신으로 구성된 시뮬레이터 환경을 구축하였으며, 각 상황 별 알고리즘 동작을 평가해봄으로써 실현 가능성 및 성능을 입증하였다.