• The Journal of Korea Robotics Society
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• v.8 no.3
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• pp.150-155
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• 2013

Vibrotactile actuators for small consumer electronic products, such as mobile devices, have been widely used for conveying haptic sensation to users. One of the most important things in vibrotactile actuators is to be developed in the form of thin actuator which can be easily embedded into mobile devices and to provide vibrotactile signals with wide frequency band to users. Thus, this paper proposes a thin film type haptic actuator with an aim to convey vibrotactile information with high frequency bandwidth to users in mobile devices. To this end, a vibrotactile actuator which creates haptic sensation is designed and constructed based on cellulose acetate material. A cellulose acetate material charged with an electric potential can generate vibration under the AC voltage input. It is found that the motion of the actuator can have concave or convex shape by controlling a polarity of both charged membranes and the actuator performance can be modulated by increasing level of biased electric potential. The experiment clearly shows that the proposed actuator creates enough output force to stimulate human skin with a large frequency bandwidth and to simulate various vibrotactile sensations to users.

• 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.

• Journal of the Korean Institute of Landscape Architecture
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• v.34 no.3 s.116
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• pp.23-31
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• 2006

Multi-sensory design results from sensory design paradigm and image centricism, which stimulates 5 sensation; visual, auditory, haptic, smell and taste sensation when we experience environment. This is helpful for designing outdoor space considering integrated sensation not only visual and auditory sensation as well as for improving visitor's satisfaction. Therefore, this study mainly intended to analyse the multi-sensory preference and the image influence of outdoor leisure space. For these purpose, this study selected 3 leisure spaces around Seoul city; Gwan-ak mountain(the type oriented natural resource), Insa-dong(the type oriented cultural resource) and Seoul land as theme park(the type oriented facility) and a survey was performed with a total of 204 visitors at the above spaces in winter and summer. The results of this study indicate that visual sensation was evaluated most high at 3 outdoor leisure spaces in both winter and summer. Visitors at Gwan-ak mountain and Seoul land prefer visual and haptic sensation, but visitors at Insa-dong prefer visual and haptic sensation in summer, visual and taste sensation in winter. Above all, this study led the designer to consider diverse sensation to access leisure space, especially haptic sense, which can be an effective design strategy to satisfy visitors.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1759-1764
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• 2005

Human Adaptive Mechatronics(HAM) is a new concept which was proposed in our university's research project sponsored by Japanese Ministry of Education, Sports, Culture, Science and Technology(MEXT), and is defined as "intelligent mechanical systems that adapt themselves to the user's skill under various environments, assist to improve the user's skill, and assist the human-machine system to achieve best performance". In this paper, the concept and key-items of HAM are mentioned. And the control strategy to realize a HAM human-machine system is explained in the case of physical-interface system, i.e. haptic system. The proposed assist-control of a force-feedback type haptic system includes online estimation of a operator's control characteristics, and a `force assist' function implemented as a change in the support ratio according to the identified skill level. We developed a HAM-haptic device test system, executed evaluation experiments with this apparatus, and analyzed the measured data. It was confirmed that the operator's skill could be estimated and that operator's performance was enhanced by the assist-control.

• Journal of the Korean Society of Visualization
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• v.15 no.1
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• pp.32-40
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• 2017

Interaction between fluid and a rigid object is frequently observed in everyday life. However, it is difficult to simulate their interaction as the medium and the object have different representations. One of the challenging issues arises especially in handling deformation of the object visually as well as rendering haptic feedback. In this paper, we propose a real-time simulation technique for multimodal interaction between particle-based fluids and soluble solids. We have developed the dissolution behavior model of solids, which is discretized based on the idea of smoothed particle hydrodynamics, and the changes in physical properties accompanying dissolution is immediately reflected to the object. The user is allowed to intervene in the simulation environment anytime by manipulating the solid object, where both visual and haptic feedback are delivered to the user on the fly. For immersive visualization, we also adopt the screen space fluid rendering technique which can balance realism and performance.

• Journal of the Korean Society of Safety
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• v.28 no.4
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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.

• Journal of IKEEE
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• v.17 no.1
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• pp.44-50
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• 2013

This paper proposed the implementation of haptic-based robot which is following a human by using fundamental sensors on robot arms without additional sensors. Joints in the robot arms have several motors, and their angles can be read out by these motors when a human pushes or pulls the robot arms. So these arms can be used as haptic sensors. The implemented robot follows a human by interacting with robot arms and human hands, as a human follows a human by hands.

• Journal of the Korean Society of Clothing and Textiles
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• v.48 no.1
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• pp.172-191
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• 2024

This study investigated how the visual and verbal presentation format of haptic information on apparel products in online stores affects consumers' imagery information processing. This includes the quantity and vividness of mental imagery, the ease of evoking mental imagery, and the evocation of imagination imagery. Additionally, the study explored consumer satisfaction with the information and online store. The study also tested a conceptual model to examine the effects of three imagery types on imagination imagery (as elaborated imagery) and how this imagination imagery affects consumer satisfaction. Employing a 2 × 3 × 2 between-subjects factorial design, twelve one-page websites were created for the experiment. 528 women in their 20s and 30s were randomly assigned to one of the 12 treatment conditions and answered the questionnaire. The results demonstrated significant differences in the three types of mental imagery, consumers' evocation of imagination imagery, and their satisfaction with information and online stores based on presentation format. The SEM analysis revealed that the quantity and vividness of mental imagery influenced the evocation of imagination imagery, affecting consumers' satisfaction with the information. These findings suggest that online retailers must provide close-up pictures or descriptive text of apparel products to elicit positive consumer responses.

• Journal of Broadcast Engineering
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• v.15 no.6
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• pp.715-722
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• 2010

As one of applications in augmented realities, this paper presents a bubble popping system utilizing a haptic vibro-tactile mouse. In this system, virtual bubbles randomly float in the 3D space. By using the vibro-tactile mouse grabbed by a user, the bubbles are popped when they are touched by the mouse in the 3D space. Then a bubble popping effect with addition mouse vibration is delivered to the user's hand through the mouse. The proposed system is developed on ARToolkit environment. Therefore, basic components such as a camera and a marker pattern are required. The systems is composed of a vibro-haptic mouse, a webcam, a marker pattern, a graphic bubble object, and graphic mouse. Mouse vibration as well as bubble fade-out effect is delivered. Therefore, the combination of visual and tactile bubble popping effects outperforms the usage of a single effect in the experience of augmented reality.

• Journal of Korea Multimedia Society
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• v.15 no.6
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• pp.711-721
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• 2012

The objective of this study is to propose an efficient 3D reconstruction method for developing a stereo-vision-based haptics system which can replace "robotic eyes" and "robotic touch." The haptic rendering for 3D images requires to capture depth information and edge information of stereo images. This paper proposes the 3D reconstruction methods using LoG(Laplacian of Gaussian) algorithm and DoG(Difference of Gaussian) algorithm for edge detection in addition to the basic 3D depth extraction method for better haptic rendering. Also, some experiments are performed for evaluating the CPU time and the error rates of those methods. The experimental results lead us to conclude that the DoG method is more efficient for haptic rendering. This paper may contribute to investigate the effective methods for 3D image reconstruction such as in improving the performance of mobile patrol robots.