• Proceedings of the Korean Society of Precision Engineering Conference
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• 2011.06a
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• pp.1079-1080
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• 2011

• JSTS:Journal of Semiconductor Technology and Science
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• v.16 no.3
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• pp.380-386
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• 2016

This paper presents a compact and low-power on-chip touch sensor and readout circuit using shunt proximity touch sensor and its design scheme. In the proposed touch sensor readout circuit, the touch panel condition depending on the proximity of the finger is directly converted into the corresponding voltage level without additional signal conditioning procedures. Furthermore, the additional circuitry including the comparator and the flip-flop does not consume any static current, which leads to a low-power design scheme. A new prototype touch sensor readout integrated circuit was fabricated using complementally metal oxide silicon (CMOS) $0.18{\mu}m$ technology with core area of $0.032mm^2$ and total current of $125{\mu}A$. Our measurement result shows that an actual 10.4 inches capacitive type touch screen panel (TSP) can detect the finger size from 0 to 1.52 mm, sharply.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.957-962
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• 2005

Today, the elderly is increasing gradually in the Republic of Korea society and this problem will be more serious in the near future. Therefore, engineering support for aged people is required. We are establishing a new field of healthcare engineering for elderly people and aiming to support for aged people and disabled people using adaptive control and instrument technology. In this paper, the goal is to implement the shared control of a robot mobility aid for the elderly. As using this type of assistive technology to be useful by its intended user community, it supports elderly people and handicapped people to live independently in their private homes. The interface transforms the force applied by the user into the robot's motion. Devices like buttons, joysticks, and levers already exist for relaying user input; however, they require hand displacement that would loosen or otherwise release the user's hold. Such interfaces make operation very difficult and potentially unsafe. Therefore, we propose a shared control system. It's safe more than joysticks and buttons. The shared control is a means of registering the user's intention through physical interaction. It's an important component in the development of robotic elderly assistant. The concept of shared control describes a system which is two or more independent control systems. We are using that the three component blocks consist of pressure sensor (flexible force sensor), circuit of measurement and transfer function. Experimental trials of this paper have been tested at the indoor environment. The robot is able to know the user intended direction through haptic device were logged along with the robot's force sensor.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.4
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• pp.380-388
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• 2006

A noisy behavior of the time domain passivity controller during the period of low velocity is analyzed. Main reasons of the noisy behavior are investigated through a simulation with a one-DOF (Degree of Freedom) haptic interface model. It is shown that the PO/PC is ineffective in dissipating the produced energy when the sign of the velocity, which is numerically calculated from the measured position, is suddenly changed, and when this velocity is zero. These cases happen during the period of low velocity due to the limited resolution of the position sensor. New methods, ignoring the produced energy from the velocity sign change, and holding the control force while the velocity is zero, are proposed for removing the noisy behavior. The feasibility of the developed methods is proved with both a simulation and a real experiment.

• The Journal of the Korea Contents Association
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• v.16 no.8
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• pp.202-208
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• 2016

The scope of activities of the visually impaired is increasing. But they are not easy to visit the destination safely because the building was complicated and larger than ever. There is a guide system for visually impaired such as GPS and Audio alerts, Braille guide block, Acoustic signaller, etc. But they are not suitable for indoor because most of them are the outdoor guide system. Therefore, in this paper, I propose a system that provides guidance information to the visually impaired using Voice Technology, TTS (Text to Speech) and Haptic Technology, Beacon based on the wireless sensor networks. It informed the visually impaired of guidance information about destination such as distance, height, and obstacle to the destination using the generalized smart phone. The user could be received guide info about searches for the optimal route to the destination using the TTS technology and Haptic technology in test result of the proposed system.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1802-1807
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• 2005

Tangible interface can be understood as a newly defined concept, which can provide an effective and seamless interaction between the human as a subjective existence and the cyberspace as an objective existence. Tactile sensation is essential for many exploration and manipulation tasks in the tangible space. In this paper, we suggest the design of an integrated tactile sensor-display system that provides both of sensing and feedback with kinesthetic force, pressure distribution, vibration and slip/stretch. A new tactile sensor with PDVF strips and display system with bimorph actuators has been developed and integrated by developed signal processing algorithm. In the scenario of haptic navigation in the tangible space, tactile feedback system is successfully experimented.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.251-255
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• 2003

This paper presents the design, fabrication, and calibration of a piezoelectric polymer-based sensorized microgripper. Electro discharge machining technology is employed to fabricate super-elastic alloy based micro gripper. It is tested to present improvement of mechanical performance. For integration of force sensor on the micro gripper, the sensor design based on the piezoelectric polymer PVDF film and fabrication process are presented. The calibration and performance test of force sensor integrated micro gripper are experimentally carried out. The force sensor integrated micro gripper is applied to perform fine alignment tasks of micro opto-electrical components. It successfully supplies force feedback to the operator through the haptic device and plays a main role in preventing damage of assembly parts by adjusting the teaching command.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.27 no.10
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• pp.1772-1777
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• 2003

This paper presents the design, fabrication, and calibration of a piezoelectric polymer-based sensorized microgripper. Electro discharge machining technology is employed to fabricate super-elastic alloy based micro gripper. It is tested to present improvement of mechanical performance. For integration of force sensor on the micro gripper, the sensor design based on the piezoelectric polymer PVDF film and fabrication process are presented. The calibration and performance test of force sensor integrated micro gripper are experimentally carried out. The force sensor integrated micro gripper is applied to perform fme alignment tasks of micro opto-electrical components. It successfully supplies force feedback to the operator through the haptic device and plays a main role in preventing damage of assembly parts by adjusting the teaching command.

• Proceedings of the KIEE Conference
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• 2015.07a
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• pp.1229-1230
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• 2015

Monitoring of mechanical properties of tissues as well as direction/quantities of forces is considered as an essential way for disease diagnosis and haptic feedback systems. There are extensively increasing interests for measuring normal/shear force and touch feelings, especially for surgery systems. Highly sensitive and flexible tactile sensor is needed in palpation for detecting cancer cyst as well as real time pressure monitoring in minimally invasive surgery (MIS). Importantly, MEMS technique with miniaturized fabrication technique is essential for the on-chip integration with biopsy and biomedical grasper. Here, we propose the flexible tactile sensor with high sensitivity based on piezoresistive effect. We analyzed the sensitivity according to the pressure and directions and showed the ability of discrimination of the different materials surfaces, illustrating the feasibility of the flexible tactile sensor for biomedical grasper by mimicking human skin.

• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.107-109
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• 2004

In this paper, authors propose the sensor fusion system that can recognize multiple 3D objects from 2D projection images and tactile information. The proposed system focuses on improving recognition performance of 3D object. Unlike the conventional object recognition system that uses image sensor alone, the proposed method uses tactual sensors in addition to visual sensor. Neural network is used to fuse these informations. Tactual signals are obtained from the reaction force by the pressure sensors at the fingertips when unknown objects are grasped by four-fingered robot hand. The experiment evaluates the recognition rate and the number of teaming iterations of various objects. The merits of the proposed systems are not only the high performance of the learning ability but also the reliability of the system with tactual information for recognizing various objects even though visual information has a defect. The experimental results show that the proposed system can improve recognition rate and reduce learning time. These results verify the effectiveness of the proposed sensor fusion system as recognition scheme of 3D object.