• International Journal of Fuzzy Logic and Intelligent Systems
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• 제3권2호
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• pp.161-165
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• 2003

In this paper, we investigate the issues on the design and implementation of tele-operation system based on the haptic interface. Here, the 3-DOF haptic device and the X-Y-Z stage are employed as master controller and slave system respectively. For this master-slave system, the force feedback algorithm, the modeling of virtual environments and the control method of X-Y-Z stage are presented. In this paper, internet network is used for data communication between master and slave. We construct virtual environment of the real convex surface from the force-feedback in controlling the X-Y-Z stage and measuring the force applied by the 3-DOF haptic device.

• 로봇학회논문지
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• 제3권2호
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• pp.137-145
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• 2008

We present the initial results of on-going research for building a novel Mobile Haptic Interface (MHI) that can provide an unlimited haptic workspace in large immersive virtual environments. When a user explores a large virtual environment, the MHI can sense the position and orientation of the user, place itself to an appropriate configuration, and deliver force feedback, thereby enabling a virtually limitless workspace. Our MHI (PoMHI v0.5) features with omnidirectional mobility, a collision-free motion planning algorithm, and force feedback for general environment models. We also provide experimental results that show the fidelity of our mobile haptic interface.

• 한국HCI학회:학술대회논문집
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• 한국HCI학회 2008년도 학술대회 3부
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• pp.12-18
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• 2008

본 논문은 촉감기반 네트워크 시스템을 위한 적용형 전송기법들에 대한 기존의 연구들을 소개한다. 우선 촉감기반 네트워크 시스템의 구조와 데이터 유행에 따라서 촉감기반 네트워크 시스템을 분류하고 촉감기반 시스템을 위한 네트워크 QoS 요구 조건에 관한 기존의 연구들을 정리한다. 촉감기반 시스템을 위한 기존의 네트워크 적응형 전송기법에 대해서 네트워크 지연 및 지터 보상 기법, 손실 제어, 그리고 전송률 제어 기법들로 나누어 소개한다. 촉감기반 네트워크 시스템을 위한 기존의 연구들을 정리하므로써 더 효율적인 네트워크 적응형 전송 기법들의 개발을 위한 기반을 마련하고자 한다.

• 대한기계학회논문집A
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• 제33권4호
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• pp.283-295
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• 2009

Haptics technology allows one to interact with virtual environments, augmented environments, and real environments providing tactual sensory information. Science and technology of haptics can in general be classified into three groups: machine haptics, computer haptics, and human haptics. This paper surveys the state-of-the-art of haptic control technology for virtual environments and teleoperation (real environments) and then proposes possible future research directions in the following areas: haptic stability control, bilateral teleoperation control, and stability enhancement control.

• 한국산업융합학회 논문집
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• 제18권1호
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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.

• 제어로봇시스템학회논문지
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• 제20권8호
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• pp.815-821
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• 2014

In this paper, we propose a novel CALL (Computer-Assisted Language Learning) system, which is called POMY (POSTECH Immersive English Study). In our system, students can study English while talking to characters in a computer-generated virtual environment. POMY also supports haptic feedback, so students can study English in a more interesting manner. Haptic feedback is provided by two platforms, a haptic chair and a force-feedback device. The haptic chair, which is equipped with an array of vibrotactile actuators, delivers directional information to the student. The force-feedback device enables the student to feel the physical properties of an object. These haptic systems help the student better understand English conversations and focus on studying. We conducted a user experiment and its results showed that our haptic-enabled English study contributes to better learning of English.

• 제어로봇시스템학회논문지
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• 제14권7호
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• pp.663-671
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• 2008

This paper presents a real-time haptic rendering method for multi-contact interaction with virtual environments. Haptic systems often employ physics-based deformation models such as finite-element models and mass-spring models which demand heavy computational overhead. The haptic system can be designed to have two sampling times, T and JT, for the haptic loop and the graphic loop, respectively. A multi-rate output-estimation with an exponential forgetting factor is proposed to implement real-time haptic rendering for the haptic systems with two sampling rates. The computational burden of the output-estimation increases rapidly as the number of contact points increases. To reduce the computation of the estimation, the multi-rate output-estimation with reduced parameters is developed in this paper. Performance of the new output-estimation with reduced parameters is compared with the original output-estimation with full parameters and an exponential forgetting factor. Estimated outputs are computed from the estimated input-output model at a high rate, and trace the analytical outputs computed from the deformation model. The performance is demonstrated by simulation with a linear tensor-mass model.

• 제어로봇시스템학회논문지
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• 제18권2호
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• pp.156-160
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• 2012

In this paper, we investigate the effect of asynchronous haptic and video feedback on the performance of teleoperation. To analyze the effect, a tele-manipulation experiment is specially designed, which operator moves square objects from one place to another place by using master/slave telerobotic system. Task completion time and total number of falling of the object are used for evaluating the performance. Subjective study was conducted with 10 subjects in 16 different combinations of video and haptic feedback while participants didn't have any prior information about the amount of each delay. Initially we assume that synchronized haptic and video feedback would give best performance. However as a result, we found that the accuracy was increased when haptic and video feedback was synchronized, and the completion time was decreased when one of the feedback (either haptic or video) was decreased. Another interesting fact that we found in this experiment is that it showed even better accuracy when haptic information arrives little bit earlier than video information, than the case when those are synchronized.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.1190-1194
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• 2007

Since the dismantling processes of building are very dangerous, there have been many studies to develop a remote operating devices using joystick. In this paper, in order to improve the operability of the dismantling actuator that is usually an excavator, a novel concept of tele-operated haptic device is proposed. Operators who use this haptic device with additional environmental sensing devices can work safely away from the dangerous sites. First, based on the concept design of the haptic device, the workspace mapping from the haptic device to the excavator is explored. Second, the kinematics which deals with the conversion from the 3 dimensional position information of the haptic device to the joint variable information of the backhoe is included. Lastly, 3D graphical simulation of both haptic device and the backhoe will be shown. This new design of the haptic device can be easily manufactured and gives the workers very convenient and transparent remote control capability.

• 한국HCI학회:학술대회논문집
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• 한국HCI학회 2009년도 학술대회
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• pp.402-405
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• 2009

차세대 출판문인 디지로그 북은 기존 서적과 디지털콘텐츠를 통합하여 사용자에게 아날로그적 감성과 디지털오감을 제공한다. 이러한 디지로그 북을 제작하기 위해 디지로그 북의 저작도구에 대한 연구가 진행 중이며, 본 논문에서는 디지로그 북에 사용될 콘텐츠를 저작하는 활동에서 시각과 청각에만 의존한 작업을 보다 실감 있도록 하기 위해 펜형 햅틱 사용자인터페이스를 개발하고자 하였다. 햅틱 사용자인터페이스는 디지로그 북을 저작하는 작업에서 3차원 작업공간에서 공간상에 배치되는 3차원 객체를 이동, 회전, 크기 변경 및 메뉴선택 버튼의 클릭등과 같은 다양한 작업에서 각 작업을 보다 실감 있게 하기 위한 진동 햅틱 효과를 사용자에게 제공한다. 본 연구에서는 이러한 디지로그 북의 저작 환경에 적합한 사용자인터페이스의 외형, 회로 설계, 진동패턴의 설계/내장 및 저작시스템과의 연동을 위한 프로토콜을 정의하고 이렇게 개발된 햅틱 사용자인터페이스를 사용하여 사용자평가를 간단히 실시하였다. 디지로그 북 저작 작업에서 이렇게 개발된 햅틱 인터페이스의 촉각 효과를 시청각정보와 함께 사용함으로써 디지로그 북 저작 작업을 보다 효과적으로 할 수 있기를 기대한다.