• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.25 no.8
• /
• pp.1308-1316
• /
• 2001

A hybrid type master system is proposed to take the advantage of the link mechanism and magnetic levitation mechanism without using a force sensor. Two different types of electromagnetic actuators, moving coil type and moving magnet types are used to drive the master system which is capable of 4-DOF actuation. It is designed that the rotation motions about x-y axis are decoupled and the whole system is represented by simple dynamic equations. The force reflection is achieved by using the simple relation between the force and applied current and position. The simulation and experimental results are presented to show its performance.

• The Journal of Korea Robotics Society
• /
• v.16 no.1
• /
• pp.29-34
• /
• 2021

Traditional actuation system such as electric and pneumatic actuator has obvious advantages and disadvantages. To combine advantages and compensate disadvantages of the traditional actuation, a pneumatic actuation system with an internal air pressure source is noteworthy approach. In this paper, a soft pneumatic actuation system based on origami pump is described for haptic feedback glove. To improve wearability, an origami pump is introduced because the origami pump is much lighter than air compressor. The miniaturized electric actuation system is also designed with 3D printed planetary gear in order to reduce the volume of the system. To figure out the performance of the system, shrinkage distance of origami pump was measured with vision camera. The pressure in the origami pump was also estimated to understand the performance of the system.

• Proceedings of the KIPE Conference
• /
• 1998.07a
• /
• pp.123-128
• /
• 1998

This paper describes the evaluation of a force-reflecting interface with ultrasonic motors(USMs). The force-reflecting interface allows a human to feel object within virtual environment. To effectively display the mechanical impedance of the human hand we need a haptic device with specific characteristics, such as low inertia, almost zero friction and very high stiffness. USMs have attracted considerable attention as the actuator satisfied these conditions. USMs combine features such as high driving torque at low rotational speed, high holding torque and fast response therefore we studied two degree of freedom force-reflecting haptic system.

• The Journal of Korea Robotics Society
• /
• v.7 no.4
• /
• pp.267-275
• /
• 2012

When using commercialized robot assisted laparoscopic, surgeon has met some problems to depend only on image of the surgical field. To solve it, there were various researches. The previous study showed that it is possible to estimate the operation force on the commercialized instrument inside patient without sensors. To apply the estimated force to a haptic master console for the laparoscopy surgical robot system, the light haptic master console should be designed. This paper suggests the design of lighter master console handle to reduce a weight of the console whose structure can match with the joint and DOF of an instrument. A cable-conduit mechanism is designed to make light structure to perform a delicate manipulation. The cable-conduit mechanism removes the weight and inertia of link caused by haptic actuator and encoder which is separated from handle link of a manipulator.

• The Journal of Korean Institute for Practical Engineering Education
• /
• v.5 no.1
• /
• pp.34-39
• /
• 2013

This paper suggests an input device that allows a user not only to naturally interact with education contents in virtual environment but also to sense haptic feedback according to his/her interaction. The proposed system measures a user's motion and then creates haptic feedback based on the measured position. To create haptic information in response to a user's interaction with educational contents in virtual environment, we develop a motion input device which consists of a motion controller, a haptic actuator, a wireless communication module, and a motion sensor. To measure a user's motion input, an accelerometer is used as the motion sensor. The experiment shows that the proposed system creates continuous haptic sensation without any jerky motion or vibration.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.1598-1602
• /
• 2003

The parallel-type mechanism provides more accurate and stiff motion than the serial-type mechanism. However, in case of using the haptic device, the performance of the force reflection can be deteriorated due to the singular points existing in workspace. In this paper, we propose a redundantly actuated parallel 3-DOF haptic device, which is singularity-free in the workspace and has an improved force reflection capability. In addition, we propose a new force distribution algorithm, which can reflect force of both high and low resolution, using two sets of actuator with different size. Redundant actuators are attached to the base frame in order to minimize the inertia of the system. Moreover, a wire and gear reduction system is employed to achieve high force reflection along with soft feeling. We confirm the performance of the force reflection capability throughout simulation.

• Proceedings of the KIEE Conference
• /
• 2002.07d
• /
• pp.2510-2512
• /
• 2002

In this paper, we investigated 2-DOF haptic device and the method of virtual environment modeling for virtual reality. We designed an modified five bar link system to improve the performance. The haptic control system is composed of calculating kinematics and statics, controlling actuator, and describing the virtual environment. Using this system, we realized the virtual spring model and the freely falling ball model.

• The Journal of Korean Institute for Practical Engineering Education
• /
• v.5 no.1
• /
• pp.40-44
• /
• 2013

This paper suggests a multimodal interface control module which allows a student to naturally interact with educational contents in virtual environment. The suggested module recognizes a user's motion when he/she interacts with virtual environment and then conveys the user's motion to the virtual environment via wireless communication. Futhermore, a haptic actuator is incorporated into the proposed module in order to create haptic information. Due to the proposed module, a user can haptically sense the virtual object as if the virtual object is exists in real world.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.13 no.12
• /
• pp.5684-5688
• /
• 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.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2004.05a
• /
• pp.186-186
• /
• 2004

정보화 산업의 급속한 발전을 통하여 무수히 많은 양의 정보들이 디지털화되어 왔고, 이러한 정보를 인식하기 위해서 인간은 멀티미디어나 컴퓨터를 통해 디지털화된 환경에 접속하게 되는데, 이는 시각과 청각을 통해 디지털화된 정보를 인간에게 전달하여 준다 이러한 시각과 청각을 이용한 정보 입출력 장치를 장시간 사용할 경우 정신적으로나 육체적으로 피곤함［l］과 지루함을 느끼게 되고, 장시간 사용이후에도 외부환경에 대한 반응이 일순간 둔감해질 수도 있다.(중략)