• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 학술대회 논문집 전문대학교육위원
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• pp.67-71
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• 2002

In this paper, we propose a new deformable model based on non-linear elasticity, anisotropic behavior and the finite element method and 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 and HIR library for 3D graphic deformation algorithm & haptic rendering algorithm. The developed system will be used on constructing the dynamical virtual environment. we demonstrate the relevance of this approach for the real-time simulating deformations of elastic objects. 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 controllers.

• 한국산업정보학회논문지
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• 제17권1호
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• pp.11-20
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• 2012

Due to the development of internet technology, the online business trade becomes an active area. Online negotiation supporting systems have been developing very actively in recent years to meet the growing needs. We have been studying on the effect that the haptic device brings about in interaction through online negotiation between two parties. In order to meet the online negotiation's requirements, the developed interface should be able to protect user's anonymity, convey user's emotion and make the scene alive.In this study, we adopt haptic interaction as a means of conveying emotion in an online negotiation between Japanese and Chinese people. In this study, our goal is to investigate the effectiveness of haptic interaction in communications between Chinese and Japanese users and analyze the characteristis in operation the haptic device. We conducted online negotiation experiments with and without haptic interaction . The comparison experiments results show that the haptic feedback can help to convey the emotion and the sense of presence. The Chinese subjects' feedback for the questionaire concerning the emotional communication and the sense of presence varies slightly compared to the Japanese subjects. We also found when using the haptic device, the force feedback can influence subject's feelings.There is little significant difference between the advanced and the medium subjects in negotiation dialogues and the haptic device's operation, the beginner subjects are slightly at a disadvantage.

• 한국컴퓨터그래픽스학회논문지
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• 제26권1호
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• pp.1-6
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• 2020

소동물의 슬개골 수술은 인간의 뼈보다 약하여 수술의 난이도가 어렵기 때문에, 소 동물의 슬개골 탈구 치료 수술 과정의 학습은 수의사에게 매우 중요하다. 소 동물의 슬개골 수술 훈련은 사체를 이용한 훈련을 하고 있으나 소 동물의 사체가 부족하기 때문에 시청각 자료나 수술 참관으로 수술을 학습하고 있어 수의학과 학생 및 전문 수의사들에게 충분한 훈련 환경이 제공되지 못하는 상황이다. 본 논문에서는 이러한 문제를 해결하기 위하여 소동물의 슬개골 수술을 위한 햅틱 시뮬레이터를 제안한다. 제안한 시뮬레이터는 슬개골 드릴링 수술에 적용시켰으며 소동물의 드릴링에 대한 Force Feedback을 모델링하고 햅틱 인터페이스를 제공하고, 사용자가 몰입하여 수술 경험을 할 수 있는 워크 벤치를 제공하였다. 본 논문에서 제안된 슬개골 햅틱 시뮬레이터가 제공하는 드릴링 과정에서 햅틱 피드백에 대한 사용자 평가 결과 유의미한 결과를 얻을수 있었다.

• 한국정보과학회논문지:소프트웨어및응용
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• 제30권11호
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• pp.1044-1053
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• 2003

본 논문에서는 과학 교육 분야에서 기존의 교육방식이 갖고 있는 한계성을 극복하고 교육 및 학습 효과를 향상시키기 위한 방안으로 역감 제시 장치를 이용한 가상 현실 시스템을 제안한다. 제안된 시스템의 효용성과 응용가능성, 활용방법을 효과적으로 나타낼 수 있는 4가지 과학세계로 구성된 가상 과학 체험 공간을 구축하여 미시 세계에서는 원자간의 현상을, 마찰 세계에서는 스틱-슬립 마찰현상을, 기전 세계에서는 모터 및 발전기의 원리를, 거시 세계에서는 코리올리스 가속도로 인한 물리적 현상을 각 세계에서 역학적으로 모델링하고 역감 제시 장치와 인터페이스를 위한 에뮬레이션 기법을 고안한다. 그리고, 역감 제시 장치, HMD(Head Mounted Displays), 가상환경(스테레오 그래픽스와 GUI)을 포함한 디지털 제어기로 구성된 가상 과학 체험 시스템을 구축한다. 끝으로 본 연구를 통해 교육의 보조 매체와 학습의 도구로서 효율성을 극대화시키기 위한 가상 과학 체험 공간의 설계 및 구현에 관한 고려사항을 제시한다.

• Transactions on Control, Automation and Systems Engineering
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• 제4권1호
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• pp.9-16
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• 2002

In this paper, we intend to demonstrate a new intuitive force-feedback device for advanced VR applications. Force feed-back for the device is tension based and is characterized by 7 degrees of freedom (DOF); 3 DOF for translation, 3 DOF for rotation, and 1 DOF for grasp). The SPIDAR-G (Space Interface Device for Artificial Reality with Grip) will allow users to interact with virtual objects naturally by manipulating two hemispherical grips located in the center of the device frame. We will show how to connect the strings between each vertex of grip and each extremity of the frame in order to achieve force feedback. In addition, methodologies will be discussed for calculating translation, orientation and grasp using the length of 8 strings connected to the motors and encoders on the frame. The SPIDAR-G exhibits smooth force feedback, minimized inertia, no backlash, scalability and safety. Such features are attributed to strategic string arrangement and control that results in stable haptic rendering. The design and control of the SPIDAR-G will be described in detail and the Space Graphic User Interface system based on the proposed SPIDAR-G system will be demonstrated. Experimental results validate the feasibility of the proposed device and reveal its application to virtual reality.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.57-61
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• 2005

This paper presents a new colonoscopy training simulator that includes a specialized haptic device and graphics algorithms to transfer haptic sensation through a long and flexible tube, and manage large number of polygons. The developed haptic device makes the colonoscope tube move along the two guiding rods in the translational direction. The torque of the roll motion is transferred by a timing belt and pulleys. A special guide is developed, which allows the force and torque from the motors to be transmitted to the user without loss. The haptic device is evaluated by physicians. One of the important skills of the colonoscopy, jiggling is incorporated for the first time by the developed sensor mechanism using photo-sensors. A colonoscope handle that shares the look, feel, and functions with the actual colonoscope, is developed with the necessary electronics inside. The number of polygons is reduced by an edge-collapse algorithm for real-time simulation. The algorithms to import CT data, to segment the colon image, to extract centerline of the colon, and to construct the colon surface, are integrated into a Colon Modeling Kit system that performs all these processes in real-time.

• 한국의류학회지
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• 제32권8호
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• pp.1226-1232
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• 2008

Tight fitting glove pattern is necessary to convey oscillation to the skin from the sensors attached on the hands as found in the haptic device. However, it has been difficult to provide customized glove pattern for haptic device so far. The objective of the paper is to develop a 2D pattern that fit tightly to hands by adopting the recent 3D technology to the clothing science. In this study, the user graphic interface application software(2C-AN) for the semi-automatic garment pattern generation has been utilized to develop the methodology of construct tight-fitting glove pattern for the hand in natural position. A basic pattern was developed directly from the 3D images of hand and the verification of the proposed pattern was also provided.

• 디지털콘텐츠학회 논문지
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• 제19권1호
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• pp.199-204
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• 2018

본 논문에서는 가상 공간에서 객체와의 상호 작용을 위한 빠른 충돌 감지 방법을 제안하였다. 먼저 메쉬 그룹화 단계에서는, 전체 공간을 일정한 크기의 소공간들로 분할하고, 각각의 소공간에 속하는 메쉬들에 대하여 이들을 모두 포함하는 최소의 기본 입체도형(육면체 혹은 구)의 위치와 크기를 정함으로써 그룹화한다. 충돌 검출 단계에서는, HIP(Haptic Interface Point)가 어떤 그룹을 대표하는 입체도형 내부에 들어 있는지를 검사하여 특정 입체도형과의 충돌이 확인되면 해당 그룹의 메쉬들만을 대상으로 실제 충돌이 일어난 메쉬를 찾는다. 본 논문에서 제안한 방법을 적용한 경우와 적용하지 않은 경우의 연산시간을 측정 및 비교함으로써 제안한 알고리즘의 효용성을 확인하였다.

• 보존과학회지
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• 제35권1호
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• pp.71-80
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• 2019

This study examined the applicability of digital technologies based on three-dimensional(3D) scanning, modeling, and printing to the restoration of damaged artifacts. First, 3D close-range scanning was utilized to make a high-resolution polygon mesh model of a roof-end tile with a missing part, and a 3D virtual restoration of the missing part was conducted using a haptic interface. Furthermore, the virtual restoration model was printed out with a 3D printer using the material extrusion method and a PLA filament. Then, the additive structure of the printed output with a scanning electron microscope was observed and its shape accuracy was analyzed through 3D deviation analysis. It was discovered that the 3D printing output of the missing part has high dimensional accuracy and layer thickness, thus fitting extremely well with the fracture surface of the original roof-end tile. The convergence of digital virtual restoration based on 3D scanning and 3D printing technology has helped in minimizing contact with the artifact and broadening the choice of restoration materials significantly. In the future, if the efficiency of the virtual restoration modeling process is improved and the material stability of the printed output for the purpose of restoration is sufficiently verified, the usability of 3D digital technologies in cultural heritage restoration will increase.

• 한국디자인학회:학술대회논문집
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• 한국디자인학회 2004년도 춘계 학술발표대회 논문집
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• pp.64-65
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• 2004