• Proceedings of the KIPE Conference
• /
• 2000.07a
• /
• pp.632-635
• /
• 2000

In this paper we propose a controllable interrupt timer for haptic control system. haptic control system whihc was divided ito two processes as virtual environment(VE) manager and haptic controller. The VE manager displays the 3D graphic scene at low update rates 25Hz and haptic controller controls the haptic display at high update rates 1000Hz. To archive the accurate update rate we have imple-mented a timer so called "AaccTimer" based on Windows multimedia functions, The proposed "Acc Timer" for haptic control system has been imple- mented in a personal computer with a 6-DOF haptic interface. Experimental results show that our system is robust with respect to tolerances in the control rates and also through the accurate control rate the operator can always feel a stable force.feel a stable force.

• Proceedings of the KIPE Conference
• /
• 2000.07a
• /
• pp.61-65
• /
• 2000

In this paper We have developed the high-speed controller for haptic control. The proposed controller is based on the PCI/FPGA technology which can calculate the real position and transmit the force data to device rapidly. The haptic system is composed of 6DOF force display device high-speed controller. The developed system will be used on constructing the dynamical virtual environment. To show the efficiency of our system we designed simulation program of force-reflecting. As the result of the experiment we found that the controller has much higher resolution than some other controller It is so efficient in a 1 PC-based system with 1[kHz] haptic interrupt cycle.

• Proceedings of the KSME Conference
• /
• 2008.11a
• /
• pp.1594-1599
• /
• 2008

Haptic rendering is a process that provides force feedback during interactions between a user and an object. This paper presents a haptic rendering technique for a telemanipulation system of deformable objects using image processing and physically based modeling techniques. The interaction forces between an instrument driven by a haptic device and a deformable object are inferred in real time based on a continuum mechanics model of the object, which consists of a boundary element model and ${\alpha}$ priori knowledge of the object's mechanical properties. Macro- and micro-scale experimental systems, equipped with a telemanipulation system and a commercial haptic display, were developed and tested using silicone (macro-scale) and zebrafish embryos (micro-scale). The experimental results showed the effectiveness of the algorithm in different scales: two experimental systems applied the same algorithm provided haptic feedback regardless of the system scale.

• International conference on construction engineering and project management
• /
• 2022.06a
• /
• pp.1179-1186
• /
• 2022

Building Information Modeling (BIM) is widely used to efficiently share, utilize and manage information generated in every phase of a construction project. Recently, mixed reality (MR) technologies have been introduced to more effectively utilize BIM elements. This study deals with the haptic interactions between humans and BIM elements in MR to improve BIM usability. As the first step in interacting with virtual objects in mixed reality, we challenged moving a virtual object to the desired location using finger-pointing. This paper presents the procedure of developing a haptic interface system where users can interact with a BIM object to move it to the desired location in MR. The interface system consists of an MR-based head-mounted display (HMD) and a mobile application developed using Unity 3D. This study defined two segments to compute the scale factor and rotation angle of the virtual object to be moved. As a result of testing a cuboid, the user can successfully move it to the desired location. The developed MR-based haptic interface can be used for aligning BIM elements overlaid in the real world at the construction site.

• International Journal of Control, Automation, and Systems
• /
• v.2 no.2
• /
• pp.238-246
• /
• 2004

In displaying a virtual wall using a passive haptic device equipped with passive actuators such as electric brakes, unsmooth motion frequently occurs. This undesirable behavior is attributed to time delay due to slowness in the virtual environment update and force approximation due to the inability of a brake to generate torque in arbitrary directions. In this paper a new control scheme called direct control is proposed to achieve smooth display on the wall-following task with a passive haptic device. In direct control, brakes are controlled so that the normal component of a resultant force at the end-effector vanishes, based on the force analysis at the end-effector of the passive haptic device using the passive FME (Force Manipulability Ellipsoid). Various experiments have been conducted to verify the validity of the direct control scheme with a 2-link passive haptic system.

• 한국정보디스플레이학회:학술대회논문집
• /
• 2009.10a
• /
• pp.1187-1188
• /
• 2009

In this paper we interface Tangible Devices (i.e. Haptic Devices) for 3D Virtual World based on MPEG-RoSE syntax. We called it Virtual World and Real World Interface (VRI). The VRI Technology project intends to provide virtual world information to real world and tangible experience to user of virtual world through tangible devices.

• Journal of the Institute of Electronics Engineers of Korea CI
• /
• v.48 no.2
• /
• pp.1-8
• /
• 2011

In this paper, we propose a haptic display system that can convert Braille and tactual map(braille map) to tactile information recognizable through sense of touch almost in real-time. The proposed system consists of a haptic display hardware device, which actually delivers tactile signal to visually impaired people, and a device control software program, which converts Braille and tactile information to tactile signal and transfers it to the hardware device. Experimental evaluations of the proposed system were performed with 10 visually impaired persons. Experimental results show that the proposed system can provide similar Braille recognition rate and speed to those of existing Braille information devices. In addition, the proposed system converts tactile information to tactile signal under maximum 1.1 seconds, so that it can provide graphic information in almost real-time which is not possible with existing tactile devices, such as Braille printer.

• The Journal of the Korea Contents Association
• /
• v.11 no.12
• /
• pp.94-102
• /
• 2011

In this paper, we proposed a real-time education assistive technology system based on haptic display to improve education environment of total blindness people. The proposed system consist of a lecture and writing S/W for educator and a previously developed haptic display H/W for total blindness people. The one has the major function which is quickly and easily writing to the education data, that will be provided to total blindness people, through familiar UI, the other has the major function which print out the tactile information about the education data. The result of implementing system not only provides a similar result using existing braille instrument and printer, but shows that it is effective performance and functionality because it can print out the education data in real time.

• The Journal of Korea Robotics Society
• /
• v.8 no.3
• /
• pp.143-149
• /
• 2013

This paper presents a new miniature haptic display to convey ample haptic information to a user of a handheld interface. There are buttons on interfaces or general electronic devices, but existing buttons provide haptic feedback of only one passive pattern to a user. Because humans perceive tactile and kinesthetic information simultaneously when they handle objects the proposed actuator provides both sensations at once. It is able to generate various levels of kinesthetic sensations when pressing a button under diverse situations. Also, vibrotactile feedback can be delivered for exciting haptic effects with numerous patterns. Its performance was evaluated in accordance with the resistive force by changing the intensity of the input current. Experiments show that the proposed actuator has the ability to provide numerous haptic sensations for more realistic and complex haptic experiences.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2000.11a
• /
• pp.60-63
• /
• 2000

In this study, efficient force reflection algorithm is developed for the Haptic Display by using a proxy concept and friction model. When there are not any contacted obstacles the proxy is following human operator's command trajectory in the 3D virtual space. But when the operator's command trajectory is locating inside of the object, the proxy is constrained by the surface of the object. Here only with the information of the proxy position and operator's command trajectory at every time step, we can calculate the reflection force and its orientation. To display the friction force between two virtual stiff material which are sliding against each other, modified Karnopp's friction model is used. In the friction model, a damping term and a Stribeck effect term are included to display the relative velocity effect and stick-slip effect at the very low relative velocity region respectively.