• Title/Summary/Keyword: Haptic Design

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Design and Performance Evaluation of Tactile Device Using MR Fluid (MR 유체를 이용한 촉감구현장치의 설계 및 성능 평가)

  • Kim, Jin-Kyu;Oh, Jong-Seok;Han, Young-Min;Choi, Seung-Bok
    • Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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    • 2012.10a
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    • pp.415-420
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    • 2012
  • This paper proposes a novel type of tactile device utilizing magnetorheological (MR) fluid which can be applicable for haptic master of minimally invasive surgery (MIS) robotic system. The salient feature of the controllability of rheological properties by the intensity of the magnetic field (or current) makes this potential candidate of the tactile device. As a first step, an appropriate size of the tactile device is designed and manufactured via magnetic analysis. Secondly, in order to determine proper input magnetic field the repulsive forces of the real body parts such as hand and neck are measured. Subsequently, the repulsive forces of the tactile device are measured by dividing 5 areas. The final step of this work is to obtain desired force in real implementation. Thus, in order to demonstrate this goal a neuro-fuzzy logic is applied to get the desired repulsive force and the error between the desired and actual force is evaluated.

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A Study on the Shift Register-Based Multi Channel Ultrasonic Focusing Delay Control Method using a CPLD for Ultrasonic Tactile Implementation (초음파 촉각 구현을 위한 CPLD를 사용한 Shift Register기반 다채널 초음파 집속 지연 제어 방법에 대한 연구)

  • Shin, Duck-Shick;Park, Jun-Heon;Lim, Young-Cheol;Choi, Joon-Ho
    • Journal of Sensor Science and Technology
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    • v.31 no.5
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    • pp.324-329
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    • 2022
  • This paper proposes a shift-register-based multichannel ultrasonic focusing delay control method using a complex programmable logic device (CPLD) for a high resolution of ultrasonic focusing system. The proposed method can achieve the ultrasonic focusing through the delay control of driving signals of each ultrasonic transducer of an ultrasonic array. The delay of the driving signals of all ultrasonic channels can be controlled by setting the shift register in the CPLD. The experiment verified that the frequency of the clock used for the delay control increased, the error of the focusing point decreased, and the diameter of the focusing point decreased as the length of the shift register in the proposed method. The proposed method used only one CPLD for ultrasonic focusing and did not require to use complex hardware circuits. Therefore, the resources required for the design of an ultrasonic focusing system could be reduced. The proposed method can be applied to the fields of human computer interaction (HCI), virtual reality (VR) and augmented reality (AR).

Design and Experiments of Pneumatic Tactile Display for Haptic Interaction (햅틱 인터렉션을 위한 공기촉감 제시장치의 개발 및 실험 - 손끝 부착 형 공기촉감 제시장치의 개발 및 심리 물리학적 실험 -)

  • Kim, Yeong-Mi;Oakley, Ian;Ryu, Je-Ha
    • Journal of the HCI Society of Korea
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    • v.1 no.2
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    • pp.19-26
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    • 2006
  • This paper presents a novel pneumatic tactile display that can deliver some useful information. The air-jet display forms 5 by 5 arrays and features air nozzles with an external diameter of 2.4mm and internal diameter of 1.5 mm. In comparison with other tactile displays such as vibrotactile, there is little concrete psychophysical data relating to pneumatic displays, a fact which hinders their adoption. This paper addresses this challenge, and presents brief psychophysical studies examining localization rate, the two point threshold, stimulus intensity and the temporal threshold of cues produced by pneumatic air jets. Two groups of subjects were used in these studies, subsequently termed groups A and B. Both were comprised of eight participants. In the case of localization study we obtained 58.13% and 85.9% of localization rates each for dense display and sparse display. Two-points threshold test showed the length of gap between two air-jet stimuli which subjects can detect. However, it was formidable to find out precise temporal resolution of PTI owing to the limitation of capability of the pneumatic valves. Lastly, the results of stimulus intensity study suggest that by varying the size of a pneumatically created tactile stimulus, we can effectively vary its perceived magnitude.

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Design of leaf spring with high fatigue life applied to horizontal linear vibrating actuator (수평 선형 진동 모터에 적용 가능한 높은 피로 수명을 가진 판 스프링 설계)

  • Lee, Ki-Bum;Kim, Jin-Ho
    • Journal of the Korea Academia-Industrial cooperation Society
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    • v.13 no.12
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    • pp.5684-5688
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    • 2012
  • This paper aims to design the leaf spring of high fatigue life which guides the moving part of the horizontal linear vibrating actuator. The vertical linear vibrating actuator has been used as the vibration device for haptic and alarm function on smart phone. However, the vibrating actuator has a major cause on the limitation to make smart phone slim because of its own characteristic of vertical direction vibration. The horizontally linear vibrating actuator for smart phone slimness has been developed in recent years. One of the most significant parts of horizontal vibrating linear actuator is the guide spring which supports moving part of actuator and enables actuator to vibrate elastically. Various types of leaf springs were designed and analyzed to get the required stiffness with high fatigue life through the stress analysis using commercial structural analysis program, ANSYS. The experiments were performed with prototypes to measure vibration acceleration and life time of leaf spring.

3D Simulation of Dental Implant Surgery Using Surgical Guide Stents (식립 보조도구를 이용한 3D 치아 임플란트 시술 시뮬레이션)

  • Park, Hyung-Wook;Kim, Myong-Soo;Park, Hyung-Jun
    • Korean Journal of Computational Design and Engineering
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    • v.16 no.3
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    • pp.216-226
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    • 2011
  • Surgeon dentists usually rely on their experiential judgments from patients' oral plaster casts and medical images to determine the positional and directional information of implant fixtures and to perform drilling tasks during dental implant surgical operations. This approach, however, may cause some errors and deteriorate the quality of dental implants. Computer-aided methods have been introduced as supportive tools to alleviate the shortcomings of the conventional approach. In this paper, we present an approach of 3D dental implant simulation which can provide the realistic and immersive experience of dental implant information. The dental implant information is primarily composed of several kinds of 3D mesh models obtained as follows. Firstly, we construct 3D mesh models of jawbones, teeth and nerve curves from the patient's dental images using software $Mimics^{TM}$. Secondly, we construct 3D mesh models of gingival regions from the patient's oral impression using a reverse engineering technique. Thirdly, we select suitable types of implant fixtures from fixture database and determine the positions and directions of the fixtures by using the 3D mesh models and the dental images with software $Simplant^{TM}$. Fourthly, from the geometric and/or directional information of the jawbones, the gingival regions, the teeth and the fixtures, we construct the 3D models of surgical guide stents which are crucial to perform the drilling operations with ease and accuracy. In the application phase, the dental implant information is combined with the tangible interface device to accomplish 3D dental implant simulation. The user can see and touch the 3D models related with dental implant surgery. Furthermore, the user can experience drilling paths to make holes where fixtures are implanted. A preliminary user study shows that the presented approach can be used to provide dental students with good educational contents. With future work, we expect that it can be utilized for clinical studies of dental implant surgery.

Design and Analysis of Linear Vibration Motor Equipped with Permanent-Magnet Springs and Voice-Coil Actuators (영구자석 스프링과 보이스 코일 구동기를 가진 직선형 진동모터의 설계 및 해석)

  • Choi, Jung-Kyu;Yoo, Seong-Yeol;Noh, Myounggyu
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.37 no.3
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    • pp.359-364
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    • 2013
  • In order to use a linear vibration motor for the actuator of a haptic interface, the motor must provide a higher reaction rate and longer service life than typical rotational motors with an eccentric mass. In this paper, we propose a linear vibration motor that is equipped with a voice-coil actuator and permanent-magnet springs. To concentrate the magnetic flux in the actuator, a Halbach-style magnetization pattern is used. Permanent-magnet springs replace mechanical springs to help increase the service life. We use the method of equivalent current sheets and the method of images to analyze and model the proposed vibration motor. These methods are validated using finite element analyses and experiments. A prototype motor is designed and fabricated. Tests with the prototype show the feasibility of the proposed linear vibration motor.

Robotic Surgery in the Orthopedic Field (정형외과 영역에서 로봇수술)

  • Lee, Woo-Suk;Jung, Woo-Suk
    • Journal of the Korean Orthopaedic Association
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    • v.53 no.6
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    • pp.459-465
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    • 2018
  • Of the many factors that affect the clinical outcomes of orthopedic surgery, the surgical procedure is the most important. Robotics have been developed to perform the surgical procedures more accurately and consistently. Robotic surgical procedures in the orthopedic field were developed 20 years ago. Some designs of surgical robots have disappeared due to practical problems and complications, and an another design of surgical robots is emerging. To date, the use of robot surgery in arthroplasty is still controversial in terms of the clinical outcomes, practicality, and cost-effectiveness, even though it has been reported to be effective in the alignment and positioning of components in the field of artificial joints. Early robotic surgery was based mainly on active robot surgery according to the scheduled operation without the intervention of the operator. Recently the semi-active system of robotic surgery has been introduced. In a semi-active system, the robot constrains the surgeon to a haptic boundary defined by the computer based on the 3-dimensional imaging preoperative plan, and the operator can change the preoperative plan through real-time feedback during operation.

Design of the control Algorithm for Improvement of the Convenience the Active-type Walking Aid (전동 보행보조기의 편의성 향상을 위한 제어기 설계)

  • Lee, D.K.;Kong, J.S.;Goh, M.S.;Kang, S.J.;Lee, S.M.;Lee, E.H.
    • Journal of rehabilitation welfare engineering & assistive technology
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    • v.5 no.1
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    • pp.17-25
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    • 2011
  • This paper aims to find the optimal control gain for enhancing the convenience of electric walking frames and design a control algorithm. With the recent advances in medical technology, there has been a rapid increase in the aging population and a variety of mobile walking frames have been developed for improvement of the quality of life. However, the manual walking frames of such mobile aids don't have any electric motor which helps facilitate elderly users' walking and thus are not efficient enough for the old people of weak strength to use especially when moving on uneven surfaces such as slopes or thresholds. The types of electric walking frames have been developed to overcome such inefficiency. Electric walking frames require users' control operations for motor driving unlike manual frames. Therefore, when they are not properly handled, it causes considerable inconvenience to their users. The present study compared the electric walking frames with manual ones in terms of operational convenience and attempted to improve the user convenience of walking frames varying the control value for user convenience based on certain standards. This paper presented a haptic sensor designed to recognize the will to walk and measure the degree of convenience and proposed a control algorithm for improvement of convenience. For user convenience, this paper evaluated the relative convenience of walking frames in view of changing differences between the center of vehicle (COV) and the center of position (COP). With the employment of an electric walking frame and a new measuring method, all the processes were experimentally tested and validated.

Wearable Computers

  • Cho, Gil-Soo;Barfield, Woodrow;Baird, Kevin
    • Fiber Technology and Industry
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    • v.2 no.4
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    • pp.490-508
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    • 1998
  • One of the latest fields of research in the area of output devices is tactual display devices [13,31]. These tactual or haptic devices allow the user to receive haptic feedback output from a variety of sources. This allows the user to actually feel virtual objects and manipulate them by touch. This is an emerging technology and will be instrumental in enhancing the realism of wearable augmented environments for certain applications. Tactual displays have previously been used for scientific visualization in virtual environments by chemists and engineers to improve perception and understanding of force fields and of world models populated with the impenetrable. In addition to tactual displays, the use of wearable audio displays that allow sound to be spatialized are being developed. With wearable computers, designers will soon be able to pair spatialized sound to virtual representations of objects when appropriate to make the wearable computer experience even more realistic to the user. Furthermore, as the number and complexity of wearable computing applications continues to grow, there will be increasing needs for systems that are faster, lighter, and have higher resolution displays. Better networking technology will also need to be developed to allow all users of wearable computers to have high bandwidth connections for real time information gathering and collaboration. In addition to the technology advances that make users need to wear computers in everyday life, there is also the desire to have users want to wear their computers. In order to do this, wearable computing needs to be unobtrusive and socially acceptable. By making wearables smaller and lighter, or actually embedding them in clothing, users can conceal them easily and wear them comfortably. The military is currently working on the development of the Personal Information Carrier (PIC) or digital dog tag. The PIC is a small electronic storage device containing medical information about the wearer. While old military dog tags contained only 5 lines of information, the digital tags may contain volumes of multi-media information including medical history, X-rays, and cardiograms. Using hand held devices in the field, medics would be able to call this information up in real time for better treatment. A fully functional transmittable device is still years off, but this technology once developed in the military, could be adapted tp civilian users and provide ant information, medical or otherwise, in a portable, not obstructive, and fashionable way. Another future device that could increase safety and well being of its users is the nose on-a-chip developed by the Oak Ridge National Lab in Tennessee. This tiny digital silicon chip about the size of a dime, is capable of 'smelling' natural gas leaks in stoves, heaters, and other appliances. It can also detect dangerous levels of carbon monoxide. This device can also be configured to notify the fire department when a leak is detected. This nose chip should be commercially available within 2 years, and is inexpensive, requires low power, and is very sensitive. Along with gas detection capabilities, this device may someday also be configured to detect smoke and other harmful gases. By embedding this chip into workers uniforms, name tags, etc., this could be a lifesaving computational accessory. In addition to the future safety technology soon to be available as accessories are devices that are for entertainment and security. The LCI computer group is developing a Smartpen, that electronically verifies a user's signature. With the increase in credit card use and the rise in forgeries, is the need for commercial industries to constantly verify signatures. This Smartpen writes like a normal pen but uses sensors to detect the motion of the pen as the user signs their name to authenticate the signature. This computational accessory should be available in 1999, and would bring increased peace of mind to consumers and vendors alike. In the entertainment domain, Panasonic is creating the first portable hand-held DVD player. This device weight less than 3 pounds and has a screen about 6' across. The color LCD has the same 16:9 aspect ratio of a cinema screen and supports a high resolution of 280,000 pixels and stereo sound. The player can play standard DVD movies and has a hour battery life for mobile use. To summarize, in this paper we presented concepts related to the design and use of wearable computers with extensions to smart spaces. For some time, researchers in telerobotics have used computer graphics to enhance remote scenes. Recent advances in augmented reality displays make it possible to enhance the user's local environment with 'information'. As shown in this paper, there are many application areas for this technology such as medicine, manufacturing, training, and recreation. Wearable computers allow a much closer association of information with the user. By embedding sensors in the wearable to allow it to see what the user sees, hear what the user hears, sense the user's physical state, and analyze what the user is typing, an intelligent agent may be able to analyze what the user is doing and try to predict the resources he will need next or in the near future. Using this information, the agent may download files, reserve communications bandwidth, post reminders, or automatically send updates to colleagues to help facilitate the user's daily interactions. This intelligent wearable computer would be able to act as a personal assistant, who is always around, knows the user's personal preferences and tastes, and tries to streamline interactions with the rest of the world.

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A Study on a Quantified Structure Simulation Technique for Product Design Based on Augmented Reality (제품 디자인을 위한 증강현실 기반 정량구조 시뮬레이션 기법에 대한 연구)

  • Lee, Woo-Hun
    • Archives of design research
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    • v.18 no.3 s.61
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    • pp.85-94
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    • 2005
  • Most of product designers use 3D CAD system as a inevitable design tool nowadays and many new products are developed through a concurrent engineering process. However, it is very difficult for novice designers to get the sense of reality from modeling objects shown in the computer screens. Such a intangibility problem comes from the lack of haptic interactions and contextual information about the real space because designers tend to do 3D modeling works only in a virtual space of 3D CAD system. To address this problem, this research investigate the possibility of a interactive quantified structure simulation for product design using AR(augmented reality) which can register a 3D CAD modeling object on the real space. We built a quantified structure simulation system based on AR and conducted a series of experiments to measure how accurately human perceive and adjust the size of virtual objects under varied experimental conditions in the AR environment. The experiment participants adjusted a virtual cube to a reference real cube within 1.3% relative error(5.3% relative StDev). The results gave the strong evidence that the participants can perceive the size of a virtual object very accurately. Furthermore, we found that it is easier to perceive the size of a virtual object in the condition of presenting plenty of real reference objects than few reference objects, and using LCD panel than HMD. We tried to apply the simulation system to identify preference characteristics for the appearance design of a home-service robot as a case study which explores the potential application of the system. There were significant variances in participants' preferred characteristics about robot appearance and that was supposed to come from the lack of typicality of robot image. Then, several characteristic groups were segmented by duster analysis. On the other hand, it was interesting finding that participants have significantly different preference characteristics between robot with arm and armless robot and there was a very strong correlation between the height of robot and arm length as a human body.

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