• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.51.4-51
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• 2002

$\textbullet$ A noval haptic mouse system is developed for human computer interface. $\textbullet$ Five bar mechanism is adapted for 2 dof force feedback with virtual environment. $\textbullet$ Double prismatic joint type mechanism is adapted to reflect 1 dof grabbing force feedback. $\textbullet$ Cable driven mechansim is used for actuation to reduce backlash and endow backdrivability. $\textbullet$ Virtual wall perception experiment is conducted to obtain force specification for haptic mouse. $\textbullet$ Average mouse workspace is measured using magnetic position tracker.

• Journal of the Korean Society of Industry Convergence
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• v.18 no.1
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• pp.61-66
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• 2015

Force feedback control is investigated for improving the quality of the haptic feedback in virtual reality applications. We proposed method for control of the haptic device using universal serial bus. and evaluated the characteristics with experimental set.

• Proceedings of the KIEE Conference
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• 2002.07d
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• pp.2665-2667
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• 2002

Force feedback control is investigated for improving the quality of the haptic feedback in virtual reality applications. We proposed method for control of the haptic device using universal serial bus(USB), and evaluated the characteristics with experimental set.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.25 no.6
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• pp.12-16
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• 2002

Virtual reality (VR) opened the possibility of moving beyond the 2-D world of conventional desktop systems to an immersive, multi-sensory environment generated by computer graphics. Haptic feedback (Haptics) is now starting to get recognition and use in intensive applications for manipulation, while smell and taste feedback are at the stage of early research. This paper reviews some current works on increased haptic feedback augmentation in virtual reality applications.

• 한국정보디스플레이학회:학술대회논문집
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• 2009.10a
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• pp.1187-1188
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• 2009

In this paper we interface Tangible Devices (i.e. Haptic Devices) for 3D Virtual World based on MPEG-RoSE syntax. We called it Virtual World and Real World Interface (VRI). The VRI Technology project intends to provide virtual world information to real world and tangible experience to user of virtual world through tangible devices.

• Proceedings of the Korea Multimedia Society Conference
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• 2003.05b
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• pp.499-502
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• 2003

VR(virtual reality, 가상 현실) 환경이 대중화 되면서, VR 환경 하에서 사용자가 반력(force feedback)을 느끼게 하는 방법들에 대한 연구가 활발해 지고 있다. 이러한 반력의 사용에 있어, 반력을 지원하는 하드웨어, 소프트웨어들이 필수적이고, 기존의 탁상형 고정식인 반력 게임컨트롤러 뿐만 아니라, 게임 플레이어가 보다 향상된 체감효과를 통해 현실감을 경험할 수 있도록 다양한 햅틱 장치를 필요로 한다. 본 연구에서는 신체에 착용하여 체감을 느낄 수 있도록 특별 제작된 (custom) 햅틱 수트 (haptic suit)를 다룬다. 이를 위한 게임 인터페이스를 제시하여, 게임 컨텐츠에 실재감을 부여할 수 있는 반력을 편집하고, 재생할 수 있는 효과 생성기를 제시한다.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.83.2-83
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• 2001

This paper presents a new formulation approach to reduce computational burden of the direct kinematics of 6-dof haptic devices with three sets of a parallel-serial linkage. Their direct kinematics has been formulated through employing the Denavit-Hartenberg notation, which results in complicated formulation procedures and heavy computational burden. For reducing these problems, this paper reconfigures the haptic devices into an equivalent kinematic model of the 3-6 Stewart-Gough Platform that has three connecting joints on the moving platform. Moreover, the direct kinematics of the 3-6 Platform can be effectively formulated by using the proposed Tetrahedron Approach.

• Transactions on Control, Automation and Systems Engineering
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• v.4 no.1
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• pp.2-8
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• 2002

This paper discusses haptic display for grasping a virtual object by two fingers. Much research has been done on fundamental analysis for stability of haptic display. But it is difficult to apply the results immediately to grasping situations by two fingers, since the studies usually deal with a single device and a single object and the fingertip force in grasping situations has two components, internal and external components. The conventional methods, which specify the coupling impedance at each contact point separately, have no other alternative but to specify the impedance for the sum of the internal and external components. So even if only the impedance for the external force should be changed, the impedance for the internal force is also changed at the same time. In this paper, a new method, in which the coupling impedance is specified separately for the internal and external forces, is proposed and the stability of the proposed method is discussed using passivity analysis for 1 -DOF(Degree-Of-Freedom) system. Finally, some experiments are performed to study the effects of the proposed method.

• ETRI Journal
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• v.25 no.1
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• pp.25-33
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• 2003

This paper describes interactive dynamic simulation schemes for articulated bodies in virtual environments, where user interaction is allowed through a haptic interface. We incorporated these schemes into our dynamic simulator I-GMS, which was developed in an object-oriented framework for simulating motions of free bodies and complex linkages, such as those needed for robotic systems or human body simulation. User interaction is achieved by performing push and pull operations with the PHANToM haptic device, which runs as an integrated part of I-GMS. We use both forward and inverse dynamics of articulated bodies for the haptic interaction by the push and pull operations, respectively. We demonstrate the user-interaction capability of I-GMS through on-line editing of trajectories for 6-dof (degrees of freedom) articulated bodies.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2765-2770
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• 2003

This paper introduces a novel control algorithm, energy bounding algorithm, for stable haptic interaction. The energy bounding algorithm restricts energy generated by zero-order hold within consumable energy by physical damping that is energy consumption element in the haptic interface. The passivity condition can always be guaranteed by the energy bounding algorithm. The virtual coupling algorithm restricts the actuator force with respect to the penetration depth and restricts generated energy. In contrast, energy bounding algorithm restricts the change of actuator force with respect to time and restricts generated energy by zero-order hold. Therefore, much stiffer contact simulation can be implemented by the energy bounding algorithm. Moreover, the energy bounding algorithm doesn’t is not computationally intensive and the implementation of it is very simple.