• Title/Summary/Keyword: Haptic Display

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Control of a Haptic Arm Master by Using Intermediate Constraint Space (구속 공간을 이용한 햅틱 암마스터의 제어)

  • 차삼곤;김종국;손원선;김진욱;송재복;고희동
    • Proceedings of the Korean Society for Emotion and Sensibility Conference
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    • 2002.11a
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    • pp.59-65
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    • 2002
  • 보다 현실감 있는 가상환경을 제공하기 위하여 시각정보 외에 힘의 정보를 사용자에게 제공할 필요가 있으며, 이러한 힘 반영은 햅틱장치에 의해서 수행된다. 일반적으로 영상 제시기에 의한 영상정보는 낮은 갱신율을 갖는 반면에, 햅틱장치는 상대적으로 높은 갱신율로 인간에게 힘정보를 제공하게 되므로, 이들 정보 간의 동기화가 중요하다. 본 논문에서는 가시모델의 원형을 일반화시켜서 햅틱장치에 전달하고, 영상 제시기의 갱신율과는 상관 없이 햅틱장치 내에서 임의의 구속공간을 만들어서 힘피드백을 수행하는 방법에 대해서 논의하고자 한다.

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A Conceptual Design of an Integrated Tactile Display Device

  • Son, Seung-Woo;Kyung, Ki-Uk;Yang, Gi-Hun;Kwon, Dong-Soo;Kim, Mun-Sang
    • 제어로봇시스템학회:학술대회논문집
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    • 2003.10a
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    • pp.2753-2758
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    • 2003
  • Tactile sensation is essential for many manipulation and exploration tasks not only in a real environment but also in a virtual environment. In this paper, we discuss a conceptual design of an integrated tactile display system. The system comprises two parts: a 2 DOF force feedback device for kinesthetic display and a tactile feedback device for displaying the normal stimulation to skin and the skin slip/stretch. Psychophysical experiments measure the effects of fingerpad selection, the direction of finger movements and the texture width on tactile sensitivity. We also investigate characteristics of lateral finger movement while subjects perceive different textures. From the experimental results, the principal parameters for designing a tactile display are suggested. A tactile display device is implemented using eight piezoelectric bimorphs and a linear actuator, and is attached to a 2 DOF translational force feedback device to simultaneously simulate texture and stiffness of the object.

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Display of Virtual-textures on the Surface for the Haptic Perception (촉감인지를 위한 가상질감의 표현)

  • 송복희;윤한경
    • Proceedings of the Korea Society of Design Studies Conference
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    • 1999.05a
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    • pp.16-17
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    • 1999
  • 인간은 주변환경으로부터 정보를 수집하기 위하여 청각, 시각, 촉각 또는 후각 등을 사용하는 반면에 기존의 가상현실에 관한 연구들은 주로 시각과 청각을 이용하여 현실감을 감지하도록 하는 것들이 대부분이었다. 최근에 향을 이용하여 현실감을 증대시키기 위한 시도가 국내에서 이루어지고 있으나 후각은 기본적으로 화학물질에 의한 생체의 자극이므로 가상현실에서의 다양한 응용은 제한적일 수밖에 없으며 생체의 위해 여부에 대하여 논란의 소지가 있다.(중략)

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Design of a 6-DOF Parallel Haptic Rand Controller Consisting of 5-Bar Linkages and Gimbal Mechanisms (5절링크와 짐벌기구로 구성된 병렬형 6자유도 햅틱 핸드컨트롤러의 설계)

  • Ryu, Dong-Seok;Sohn, Won-Sun;Song, Jae-Bok
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.27 no.1
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    • pp.18-25
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    • 2003
  • A haptic hand controller (HHC) operated by the user’s hand can receive information on position and orientation of the hand and display force and moment generated in the virtual environment to the hand. In this paper, a 3-DOF hand controller is first presented, in which all the actuators are mounted on the fixed base by combining a 5-bar linkage and a gimbal mechanism. The 6-DOF HHC is then designed by connecting these two 3-DOF devices through a handle which consists of a screw and nut. Analysis using performance index is carried out to determine the dimensions of the device. The HHC control system consists of the high-level controller for kinematic and static analysis and the low-level controller for position sensing and motor control. The HHC used as a user interface to control the mobile robot in the virtual environment is given as a simple application.

A Study of the real-time graphic deformation algorithm with virtual environment control (가상환경 제어에서 실시간 그래픽 변형에 관한 연구)

  • Kim, Young-Su;Bae, Chul;Kim, A-Hyun;Park, Kyung-Seok;Kang, Won-Chan;Kim, Young-Dong
    • Proceedings of the KIEE Conference
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    • 2003.07d
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    • pp.2265-2267
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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. Especially, the graphic deformation algorithm is developed in realtime with using the deformed FEM. To apply the FEM, a deformed material model is produced and then the graphic deformation with this model is able to force. Finally, the graphic transaction algorithm is deduced by the realtime calculation and simplification because the purpose of this system is to transact in real time. The result of this study is that the proposed system is possible to deform the graphics and transact the haptic in real time in PC. The simulation program has been made to prove this result.

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Development of an Integrated Mouse Type Tactile Display System (마우스형 통합 질감 제시 시스템 개발)

  • Kyung Ki-Uk;Son Seung-Woo;Yang Gi-Hun;Kim Munsang;Kwon Dong-Soo
    • Journal of Institute of Control, Robotics and Systems
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    • v.11 no.5
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    • pp.445-450
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    • 2005
  • In this paper, we suggest an integrated tactile display system that provides kinesthetic force, pressure distribution, vibration and slip/stretch. The system consists of two parts: a 2 DOF force feedback device for kinesthetic display and a tactile feedback device for displaying the normal stimulation to the skin and the skin slip/stretch. Psychophysical experiments measure the effects of fingerpad selection, the direction of finger movements and the texture width on tactile sensitivity. We also investigate the characteristics of lateral finger movement while subjects perceive different textures. From the experimental results, the principal parameters for designing a tactile display are suggested. A tactile display device, using eight piezoelectric bimorphs and a linear actuator, Is implemented and attached to a 2 DOF translational force feedback device to simultaneously simulate the texture and stiffness of the object. As a result, we find out that the capability of the suggested device is sufficient to display physical quantities to display the texture.

Stereo-Vision-Based Human-Computer Interaction with Tactile Stimulation

  • Yong, Ho-Joong;Back, Jong-Won;Jang, Tae-Jeong
    • ETRI Journal
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    • v.29 no.3
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    • pp.305-310
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    • 2007
  • If a virtual object in a virtual environment represented by a stereo vision system could be touched by a user with some tactile feeling on his/her fingertip, the sense of reality would be heightened. To create a visual impression as if the user were directly pointing to a desired point on a virtual object with his/her own finger, we need to align virtual space coordinates and physical space coordinates. Also, if there is no tactile feeling when the user touches a virtual object, the virtual object would seem to be a ghost. Therefore, a haptic interface device is required to give some tactile sensation to the user. We have constructed such a human-computer interaction system in the form of a simple virtual reality game using a stereo vision system, a vibro-tactile device module, and two position/orientation sensors.

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Real Time Haptic Effect Display for Haptic Fighting Game (체감격투게임을 위한 실시간 체감효과 디스플레이)

  • 배희정;손욱호;장병태
    • Proceedings of the Korea Multimedia Society Conference
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    • 2002.11b
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    • pp.478-481
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    • 2002
  • 가상환경을 이용한 다양한 응용분야에서는 체감에 의한 실재감을 처리하는 것이 요구되고 있다. 체감의 효과를 표현하기 위한 일반적인 형태는, PhanTom에서 사용 가능한 햅틱 라이브러리를 사용하지만, 고비공과 처리 속도 문제 때문에 그 사용의 한계를 가진다. 본 논문에서는 햅틱 렌더링의 근본적인 문제인 실시간 렌더링 문제를 극복하기 위한 비선형 보간에 의한 근사 방법을 제안한다. 제안하는 방법은 하이브리드 접근 방식으로, 캐릭터에 작용하는 동역학적 움직임을 햅틱 효과 생성을 위하여 기하학적으로 재구성함으로써 체감효과 생성에 필요한 시간을 최소화 할 수 있다. 본 논문의 결과로는 캐릭터의 빈번한 제어에서 발생되는 체감 효과를 빠르게 생성할 수 있음을 보이며, 안정적이면서 그럴 듯한 효과를 생성할 수 있음을 보인다.

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A Study on Virtual Assembly Simulation Using Virtual Reality Technology (가상현실 기술을 이용한 가상 조립 시뮬레이션에 대한 연구)

  • Kim, Yong-Wan;Park, Jin-Ah
    • Journal of Korea Multimedia Society
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    • v.13 no.11
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    • pp.1715-1727
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    • 2010
  • Although a hand haptic interaction which provides direct and natural sensation is the most natural way of interacting with VR environment, the hand haptic interaction has still limitations with respect to the complexity of articulated hand and related hardware capabilities. Particularly, virtual assembly simulation which refers to the verification process of digital mockup in product development lifecycle is one of the most challenging topics in virtual reality applications. However, hand haptic interaction is considered as a big obstacle, because difficulty initial grasping and non-dextrous manipulation remain as unsolved problems. In this paper, we propose that common hand haptic interactions involves two separate stages with different aspects. We present the hand haptic interaction method enables us to stably grasp a virtual object at initial grasping and delicately manipulate an object at task operating by one's intention. Therefore, proposed method provides the robustness using grasping quality and dextrous manipulation using physically simulation. We conducted experiments to evaluate the effectiveness of our proposed method under different display environments -monoscopic and stereoscopic. From 2-way ANOVA test, we show that the proposed method satisfies two aspects of hand haptic interaction. Finally, we demonstrated an actual application of various assembly simulation for relatively complex models.

Interactive Shape Analysis of the Hippocampus in a Virtual Environment (가상 환경에서의 해마 모델에 대한 대화식 형상 분석☆)

  • Kim, Jeong-Sik;Choi, Soo-Mi
    • Journal of Internet Computing and Services
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    • v.10 no.5
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    • pp.165-181
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    • 2009
  • This paper presents an effective representation scheme for the shape analysis of the hippocampal structure and a stereoscopic-haptic environment to enhance sense of realism. The parametric model and the 3D skeleton represent various types of hippocampal shapes and they are stored in the Octree data structure. So they can be used for the interactive shape analysis. And the 3D skeleton-based pose normalization allows us to align a position and an orientation of the 3D hippocampal models constructed from multimodal medical imaging data. We also have trained Support Vector Machine (SVM) for classifying between the normal controls and epileptic patients. Results suggest that the presented representation scheme provides various level of shape representation and the SVM can be a useful classifier in analyzing the shape differences between two groups. A stereoscopic-haptic virtual environment combining an auto-stereoscopic display with a force-feedback (or haptic) device takes an advantage of 3D applications for medicine because it improves space and depth perception.

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