• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2051-2056
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• 2003

In this paper, a tele-manipulation in explosive ordnance disposal(EOD) applications is discussed. The ROBHAZ-DT2 is developed as a teleoperated mobile manipulator for EOD. In general, it has been thought that the robot must have appropriate functions and accuracy enough to handle the complicated and dangerous mission. However, the research on the ROBHAZ-DT2 revealed that the teleoperation causes more restrictions and difficulties in EOD mission. Thus to solve the problem, a novel user interface for the ROBHAZ-DT2 is developed, in which the operator can interact with various human senses (i.e. visual, auditory and haptic sense). It enables an operator to control the ROBHAZ-DT2 simply and intuitively. A tele-manipulation control scheme for the ROBHAZ-DT2 is also proposed including compliance control via force feedback. It makes the robot adapt itself to circumstances, while the robot faithfully follows a command of the operator. This paper deals with a detailed description on the user interface and the tele-manipulation control for the ROBHAZ-DT2. An EOD demonstration is conducted to verify the validity of the proposed interface and the control scheme.

• The Journal of Korea Robotics Society
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• v.12 no.3
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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.

• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.107-109
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• 2004

In this paper, authors propose the sensor fusion system that can recognize multiple 3D objects from 2D projection images and tactile information. The proposed system focuses on improving recognition performance of 3D object. Unlike the conventional object recognition system that uses image sensor alone, the proposed method uses tactual sensors in addition to visual sensor. Neural network is used to fuse these informations. Tactual signals are obtained from the reaction force by the pressure sensors at the fingertips when unknown objects are grasped by four-fingered robot hand. The experiment evaluates the recognition rate and the number of teaming iterations of various objects. The merits of the proposed systems are not only the high performance of the learning ability but also the reliability of the system with tactual information for recognizing various objects even though visual information has a defect. The experimental results show that the proposed system can improve recognition rate and reduce learning time. These results verify the effectiveness of the proposed sensor fusion system as recognition scheme of 3D object.

• 한국HCI학회:학술대회논문집
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• 2008.02a
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• pp.256-261
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• 2008

We developed an authoring tool for designing vibrotactile patterns quickly and easily by using the drag-and-drop paradigm in mobile devices. Designed vibrotactile patterns are registered into a data pool in the XML format, improving the reusability and extensibility of vibrotactile patterns. A multi-channel timeline interface is also incorporated to provide time-synchronized pattern editing for multiple vibration patterns (for multiple vibration actuators). In addition, an internal vibration player is embedded in the authoring tool in order to evaluate the patterns on the spot. A transform function for perceptually transparent vibration rendering can also be set in the editor. Although the authoring tool was developed for mobile devices, it can be used for other applications such as haptic interaction m virtual reality.

• 한국HCI학회:학술대회논문집
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• 2008.02a
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• pp.85-90
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• 2008

This paper describes the human body learning system using the multi-modal user interface. Through our learning system, students can study about human anatomy interactively. The existing learning methods use the one-way materials like images, text and movies. But we propose the new learning system that includes 3D organ surface models, haptic interface and the hierarchical data structure of human organs to serve enhanced learning that utilizes sensorimotor skills.

• Design & Manufacturing
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• v.6 no.2
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• pp.59-63
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• 2012

In various industries, tactile recognition has been one of the important ways in displaying information because peoples like to touch and feel. Especially, how much the tactile information is efficiently recognizable is crucial for visually impaired persons in their daily lifes. However, existing design guidelines are insufficient to lead good tactile recognition. In this study, an experiment was performed to investigate proper tactile shapes (relievo / intaglio vs. filled / unfilled), sizes and depths for efficient tactile recognition. Moreover, this study scrutinized whether the recognition speed or error was varied depending on the type of displayed symbols (open vs. closed types) in tactile. The experimental results revealed that the 'relieve-filled' shape type was more rapidly recognizable than the other shapes, and the 'closed' type symbols (e.g., ${\square }$. ${\bigcirc}$) were more robustly recognizable than the 'open' type symbols (e.g, +, ^). Several design guidelines were presented based on the results. These guidelines can be applied to the design of tactile buttons in the devices that users should control them without visual attention, such as car steering wheels or MP3 players.

• Proceedings of the Korean Information Science Society Conference
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• 2011.06b
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• pp.290-293
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• 2011

치아 스케일링은 치아에 단단하게 결착된 치석을 제거하는 치과 시술로서 치아 우식 및 잇몸염증을 예방하는 중요한 시술이다. 특히 요즘에는 치료시간의 단축을 통한 효율성 증대의 목적으로 전기적 에너지를 미세한 진동에너지로 바꾸는 원리를 활용한 초음파 스케일링 기법이 많이 행해지고 있다. 하지만 치아 및 치석 확보에 따른 어려움으로 인해 스케일링 시술을 충분히 훈련하기란 쉽지 않다. 본 논문에서는 사용자가 가상현실을 통해 시각 및 촉각 피드백을 받으며 초음파 스케일링 시술을 훈련할 수 있는 치아 스케일링 시뮬레이션을 위한 알고리즘을 제안한다. 치아, 치석 및 잇몸의 볼륨모델과 스케이러 팁을 구성하는 각 부문의 관통깊이를 이용한 햅틱 랜더링 기법을 적용하여 스케일러의 모양에 따른 햅틱 피드백을 생성하였다. 그리고 치아의 손상을 줄이기 위해 스케일러의 팁 부문이 치아 표면에 되도록 평형을 이루어야 한다는 점에 입각하여, 치석을 구성하는 복셀들의 치아 디스턴스필드 값 비교를 통해 치석과 치아 사이의 접착면을 추출하고 스케일러의 팁 부분과 충돌하는 추출된 집착면의 각도를 고려한 스케일링 알고리즘을 구현하였다. 또한 수동 스케일링과는 달리 초음파 스케일링은 초음파의 진동에너지에 의해 점진적으로 치아와 치석 사이의 결속력이 감소된다는 점에 착안하여 치아와 치석의 접착면을 구성하는 지점 사이의 거리에 따른 결속력 감쇠 모델을 고안하였다.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.9
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• pp.840-845
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• 2010

This paper proposes the method indirectly measuring the operating force of the end-effect tip of surgical robot instrument which conducts the surgical operation in the body on behalf of the surgeon's hand. Due to the size and safety obligation to the surgical robot instrument, it is difficult to measure the operation force of its tip like grasping force. However the instrument is driven by cable-pulley torque transmission mechanism and when some force is occurred at the tip, then the reaction force appears on the cable as additional tension. Based on this phenomenon, this paper proposes a method to estimate the operating force from measuring reaction force against the driving motor by using a loadcell. And it induces mathematical equation to calculate the force from loadcell by approaching the modulus of elasticity to high order polynomial. And this paper proves the validity of proposed mechanism by experimental test.

• 한국HCI학회:학술대회논문집
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• 2009.02a
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• pp.2078-2079
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• 2009

This research suggests the framework for human body learning system using various forms of bidirectional interfaces. The existing systems mostly use the limited and unidirectional methods which are merely focused on the visual information. Our system provides more realistic visual information using 3D organ models from the real human body. Also we combine the haptic and augmented reality techniques into our system for wider range of interaction means. Through this research, we aim to overcome the limitation of existing science education systems and explore the effective scheme to fuse the real and virtual educational environment into one.

• 한국HCI학회:학술대회논문집
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• 2009.02a
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• pp.741-744
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• 2009

In this paper, We introduce the glove mouse using a Gyroscope, acceleration sensor, Pin-type Viboratctile Display Device and USB HID. The device recognize a user's wrist by Gyroscope and acceleration sensor in the glove and transmit the data to USB dongle which is recognized the manufactured mouse by Blutooth. Also, using a special application, We transmit the tactile information to user through the Pin-type Vibrotactile Display. We implement wearable system in the glove except USB device. If user want to use general spatial mouse, we recognize mouse USB dongle only without another application. If user want to feel the tactile sensationn, we can use by connecting PC serial communication port to USB dongle.