• Transactions on Control, Automation and Systems Engineering
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• v.4 no.1
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• pp.9-16
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• 2002

In this paper, we intend to demonstrate a new intuitive force-feedback device for advanced VR applications. Force feed-back for the device is tension based and is characterized by 7 degrees of freedom (DOF); 3 DOF for translation, 3 DOF for rotation, and 1 DOF for grasp). The SPIDAR-G (Space Interface Device for Artificial Reality with Grip) will allow users to interact with virtual objects naturally by manipulating two hemispherical grips located in the center of the device frame. We will show how to connect the strings between each vertex of grip and each extremity of the frame in order to achieve force feedback. In addition, methodologies will be discussed for calculating translation, orientation and grasp using the length of 8 strings connected to the motors and encoders on the frame. The SPIDAR-G exhibits smooth force feedback, minimized inertia, no backlash, scalability and safety. Such features are attributed to strategic string arrangement and control that results in stable haptic rendering. The design and control of the SPIDAR-G will be described in detail and the Space Graphic User Interface system based on the proposed SPIDAR-G system will be demonstrated. Experimental results validate the feasibility of the proposed device and reveal its application to virtual reality.

• 한국HCI학회:학술대회논문집
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• 2006.02a
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• pp.225-229
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• 2006

햅틱 인터페이스 장치는 가상공간 상에서 얻어지는 시각적 효과와 더불어 힘(촉각)을 전달하여 사용자에게 현실감을 줄 수 있는 장치이다. 본 논문에서는 다양한 용도로 사용할 수 있는 2 차원 햅틱 인터페이스 장치를 설계 및 제작하고, 입체영상 시스템과 연동하여 오락실에서 흔히 볼 수 있는 에어하키 시스템을 가상현실 기술로 구현하였다. 이때 적절한 모델링과 햅틱 렌더링을 통하여 가상 에어하키 공을 칠 때 사용자가 핸들을 잡은 손으로 느끼는 충격과 반력을 2 차원 햅틱 인터페이스 장치를 통하여 느낄 수 있도록 하였다. 구현된 시스템의 시연을 통하여 공과 핸들의 충돌 시 공이 튕겨 나가는 방향과 속도가 실제와 유사하고 공과 핸들에서 충돌이 일어날 때 실제와 상당히 유사한 느낌은 얻을 수 있음을 확인하였다.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2676-2681
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• 2003

The Haptic Exploration Laboratory at The Johns Hopkins University is currently exploring many problems related to haptics (force and tactile information) in human-machine systems. We divide our work into two main areas: virtual environments and robot-assisted manipulation systems. Our interest in virtual environments focuses on reality-based modeling, in which measurements of the static and dynamic properties of actual objects are taken in order to produce realistic virtual environments. Thus, we must develop methods for acquiring data from real objects and populating pre-defined models. We also seek to create systems that can provide active manipulation assistance to the operator through haptic, visual, and audio cues. These systems may be teleoperated systems, which allow human users to operate in environments that would normally be inaccessible due to hazards, distance, or scale. Alternatively, cooperative manipulation systems allow a user and a robot to share a tool, allowing the user to guide or override the robot directly if necessary. Haptics in human-machine systems can have many applications, such as undersea and space operations, training for pilots and surgeons, and manufacturing. We focus much of our work on medical applications.

• The Transactions of the Korean Institute of Power Electronics
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• v.4 no.5
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• pp.455-461
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• 1999

In this paper, we present the 3DOF force-rei1ecting interface which allows to acquire force of objc'Ct within a a virtual environment. This system is comlxlsed of device, virtual environment model, and force-rei1ecting r rendering algorithm. We design a J DOF force reflecting device using the pc$\alpha$allel linkage, torque shared by W wire, and the controller of system applied by impedance control algorithm. The force reflecting behaviour i implemented as a function position is equivalent to controlling the mechanical impedance felt by the user. E Especially how force should be supplied to user, we know using a God-Object algorithm As we experiment a system implement$\varepsilon$d by the interface of 3D virtual object and 3DOF force reJll'Cting i interface, we can feel a contact, non contact of :)D virtual object surface and sensin앙 of push button model.utton model.

• Proceedings of the KIPE Conference
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• 2003.07a
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• pp.410-414
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• 2003

In this paper, the virtual-reality system is tried to developed, which controls not only the sense of sight and hearing but also the sense of touch, In order to develope the sense of touch in this study, the stable tactual transaction-system, based on summing up the basic algorithm and theory, is embodied. The hardware of this system consists of the 6DOF haptic interface, a controller and a driver In the case of the software, the proxy algorithm is applied for the force-transaction and the mopping algorithm is used for graphic transaction. In addition to this, the imaginary-device driver is utilized for controlling the system and manager-class is also included in this system to manage the position-change and the like. Consequently, the proxy algorithm Is applied, which makes the system possible to be more stable and prompt with and imaginary object. Moreover, the impulse-algorithm is applied to work out a problem which the tactual transaction-period is different from the graphic transaction-period.

• Journal of Korea Game Society
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• v.15 no.1
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• pp.27-34
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• 2015

This paper proposes a user interface for enhancing immersiveness and usability by combining hologram and haptic device with common Leap Motion. While Leap Motion delivers physical motion of user hand to control virtual environment, it is limited to handle virtual hands on screen and interact with virtual environment in one way. In our system, hologram is coupled with Leap Motion to improve user immersiveness by arranging real and virtual hands in the same place. Moreover, we provide a interaction prototype of sense by designing a haptic device to convey touch sense in virtual environment to user's hand.

• 한국HCI학회:학술대회논문집
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• 2006.02a
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• pp.266-274
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• 2006

본 논문은 새로운 햅틱 API 인 "K-Touch"의 개발에 관한 것이다. 그래픽 하드웨어 기반의 핵심 역감 알고리즘을 기반으로 개발된 K-Touch API 는 가상 환경을 구성하는 다양한 데이터 형식(3D polygon model, volume data, 2.5D depth image)에 대한 햅틱 상호작용을 가능하게 하고, 새로운 햅틱 알고리즘 및 장치 개발에 필요한 소프트웨어 확장성을 제공함과 동시에 사용자가 쉽고 빠르게 햅틱 응용분야를 개발할 수 있도록 설계되었다. 아울러 햅틱 감각의 중요 요소인 역감 및 촉감 상호작용을 위해 기존의 햅틱 SDK 및 API 와 달리 역/촉감을 동시에 제시할 수 있는 알고리즘이 개발되었다. 본 논문에서 제안하는 새로운 햅틱 API 의 효용성을 검증하기 위해 다양한 응용분야의 예를 구현하였다. 새로운 햅틱 API 인 K-Touch 는 사용자 및 연구자에게 보다 효율적으로 햅틱 연구를 진행 할 수 있도록 도움을 주는 툴(Tool)로써 중요한 역할을 할 것으로 기대된다.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.65 no.10
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• pp.1767-1773
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• 2016

Every year, lives are lost due to electrical safety accidents that could have been prevented with proper education and awareness of electrical safety. To prevent such accidents, experiential education is more effective than indoctrination education. This paper describes the electrical safety education system based on virtual reality (VR) and evaluates effect of the proposed system. Users operated the experiential electrical safety education system, and they were provided electrical stimulation in an electric shock experience using a haptic device. Appropriate stimulation values were calculated according to age (children vs. adults) and gender through experiment. The scenario in which participants experience electrical safety in the home environment was structured, and related educational contents was produced. A total of 68 healthy elementary students evaluated the educational effect of the system. The results showed that the educational effect and the sustainability of effect of the proposed system are superior to those of existing multimedia learning methods. By implementing electrical safety education stimulating the senses of human, the learning effect was promoted and this experiential education would be able to prevent electrical accidents.

• Journal of the Korea Computer Graphics Society
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• v.14 no.2
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• pp.1-8
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• 2008

This paper presents a design of a situation training system supporting mixed-reality for the developmental disabled. The training scenario is developed for the disabled to improve the sense of sight and perception. The user sticks a virtual pin into a hole in the working board according to the direction and the appropriate feedback is delivered based on the FSM(Finite State Machine). In order to improve the reality and the training effect, the user's hand is inserted in the virtual training environments and the tactile sensation is provided using the haptic device.

• Journal of Mechanical Science and Technology
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• v.19 no.10
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• pp.1864-1874
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• 2005

This paper describes a wearable multi-modal user interface design and its implementation for a teleoperated field robot system. Recently some teleoperated field robots are employed for hazard environment applications (e.g. rescue, explosive ordnance disposal, security). To complete these missions in outdoor environment, the robot system must have appropriate functions, accuracy and reliability. However, the more functions it has, the more difficulties occur in operation of the functions. To cope up with this problem, an effective user interface should be developed. Furthermore, the user interface is needed to be wearable for portability and prompt action. This research starts at the question: how to teleoperate the complicated slave robot easily. The main challenge is to make a simple and intuitive user interface with a wearable shape and size. This research provides multi-modalities such as visual, auditory and haptic sense. It enables an operator to control every functions of a field robot more intuitively. As a result, an EOD (explosive ordnance disposal) demonstration is conducted to verify the validity of the proposed wearable multi-modal user interface.