• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1565-1570
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• 2003

Passive Haptic Devices have more benefit than the active in Stability. But Apart from benefits, it shows poor performance in haptic display. The author proposed the passive FME(Force Manipulability Ellipsoid) which can graphically show force generating ability of a passive haptic device. In this paper, performance indexes for the force approximation and pseudo friction cone are obtained with the passive FME and an optimized planar device with the indexes is proposed. Based on the above theory, experiment is conducted.

• 전기학회논문지P
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• 제51권3호
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• pp.149-154
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• 2002

In this paper, we propose a new graphic deformation algorithm for haptic interface system. Our deformable model is based on non-linear elasticity, anisotropy behavior and the finite element method. Also we developed controller for high-speed communication. The proposed controller is based on the PCI/FPGA technology, which could progress the capability of the position calculating and the force data transmitting. The haptic system is composed of the 6DOF force display device, the high-speed controller, HIR library for 3D graphic deformation algorithm and the 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 programmed the simulation of force reflecting. As the result of experiment, we found that it has high stability and easy to control for deformable object than some other systems.

• 한국CDE학회논문집
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• 제4권1호
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• pp.12-18
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• 1999

A deformable non-Uniform Rational B-Spline (NURBS) based volume is programed for the force reflecting exoskeleton haptic device. In this work, a direct free form deformation (DFFD) technique is applied for the realistic manipulation. In order to implement the real-time deformation, a nodal mapping technique is used to connect points on the virtual object with the NURBS volume. This geometric modeling technique is ideally incorporated with the force reflecting haptic device as a virtual interface. The results in this work introduce details for the complete set-up for the realistic virtual clay modeling task with force feedback. The force reflecting exoskeleton haptic manipulator, coupled with a supporting PUMA 560 manipulator and the virtual clay model are integrated with the graphics display, and results show that the force feedback from the realistic physically based virtual environment can greately enhance the sense of immersion.

• 전자통신동향분석
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• 제33권5호
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• pp.95-102
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• 2018

With the widespread use of multifunctional devices, haptic sensation is a promising type of sensory channel because it can be applied as an additional channel for transferring information for traditional audiovisual user interfaces. Many researchers have shed new light on non-contact haptic displays for their potential use on ambient and natural user interfaces. This paper introduces several of the latest schemes for creating a mid-air haptic sensation based on their transfer medium: ultrasonic phased arrays, air nozzles, thermal and plasmonic lasers, and electromagnets. We describe the principles used in delivering haptic sensation in each technology, as well as state-of-the-art technologies from leading research groups, and brief forecasts for further research directions.

• 감성과학
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• 제11권2호
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• pp.227-234
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• 2008

시각과 청각으로 표현된 디지털 콘텐츠가 감각표현을 확장하려는 연구가 활발하다. 최근에는 촉각 표현이 가능한 다양한 촉각 표현 시스템이 개발하여 촉감을 표현하는 디지털 콘텐츠 개발하고 있다. 하드웨어에 의한 촉감각 표현시 다른 감각과의 동기화가 중요한 표현 요소로 대두되고 있다. 본 연구는 햅틱(haptic)표현이 다른 감각에 비해 표현 지연 발생할 경우 실감도에 미치는 영향에 관한 것이다. 시각 및 햅틱 지연 시간을 0.5, 1.0, 2.0, 4.0(초)로 설정하여 각 지연에 대한 실감도 평가를 실시하여 선형 회귀 분석하였다. 촉각 지연 보다 시각 지연에서 실감도와 상관성을 보였으며 지연 시간이 길어질수록 실감도가 떨어지는 것을 볼 수 있었다. 그러므로 사용자는 촉감 표현에 대한 지연이 시각 지연 보다 관대한 것으로 사료된다.

• 전기학회논문지P
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• 제52권3호
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• pp.121-126
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• 2003

In this paper, we propose the haptic system for the real-time virtual environment-control, which controls the sense of sight, hearing and touch. In order to maintain the stable haptic system in this study, we apply the proxy force rendering algorithm and the real-time graphic deformation algorithm based on the FEM. The applied proxy algorithm makes the system possible to be more stable and prompt with a virtual object. Moreover, the haptic rendering algorithm is applied to work out a problem that the tactual transaction-period is different from the graphic transaction- period. The graphic deformation algorithm is developed in the real-time 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. Consequently, the graphic rendering algorithm is deduced by the real-time calculation and simplification because the purpose of this system is to transact in the real time. Applying this system to the PC, we prove that it is possible to deform the graphics and transact the haptic. Finally we suggest the variable simulation program to show the efficiency of this system.

• 디자인융복합연구
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• 제14권5호
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• pp.47-56
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• 2015

사람들은 상품에 대한 선호 결정과 가치 평가를 위해 제품을 직접 만져보기를 원한다. 일반적으로 사람들은 경험되는 햅틱 경험이 제품의 속성에 의해 이루어지고 있음을 가정하고, 계획적으로 선호와 판단의 근거로 사용한다. 하지만 경험되는 햅틱 경험이 제품의 속성에 의해 이루어지지 않았음에도, 즉 비계획적인 햅틱 경험이 제품의 선호와 가치 평가에 영향을 줄 수 있음을 시사하는 연구가 제안되고 있다 (Ackerman, Nocera, & Bargh, 2010). 본 연구는 이러한 비계획적/우연적 햅틱 경험이 (1) 사용자의 인지적 경향성을 변화시키는지 (2) 햅틱 경험의 원인에 대한 오귀인을 일으키는지, 두 가설을 제안하고 경험적으로 검증하였다. 실험 참여자는 태블릿 컴퓨터 화면에 제시되는 상품을 보고 부드러운 소재의 제품군과 딱딱한 소재의 제품군의 최대 지불 용이 가격을 책정하였다. 실험 결과 비계획적 햅틱 경험은 사용자의 인지적 경향성을 변화시킴으로서 상품의 가치 평가에 영향을 주었다. 모바일 디바이스의 커버, 오프라인 커머스 환경에서 제품의 포장재, 판촉물, 메뉴판 등 사용자들과 직접적으로 접촉하는 다양한 상황에서 발생하는 비계획적 햅틱 경험의 활용가능성을 논의하였다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2001년도 학술대회 논문집 전문대학교육위원
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• pp.103-107
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• 2001

In this paper, we have developed a new Force-Display system using wire-tension method. The proposed system is based on the HIR Lab Haptic Rendering library, which calculates the real position and renders the reflecting force data to device rapidly. The system is composed of device based tendon-driven method, controller and Haptic rendering library. The developed system will be used on constructing the dynamical virtual environment. To show the efficiency of our system, we designed simulation program which can display the moving force (attaching, grabbing, rotating) on two virtual point. As the result of the experiment, our proposed system shows much higher resolution and stability than any others.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2001년도 전력전자학술대회 논문집
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• pp.183-188
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• 2001

In this paper, we have developed a new Force-Display system using tendon-driven method based multiple DC motors. The proposed system is based on the HIR Lab Haptic library, which calculates the real position and renders the reflecting force data to device rapidly. The system is composed of device based tendon- driving method, high-speed controller and Haptic rendering library. The developed system will be used on constructing the dynamical virtual environment. To show the efficiency of our system, we designed simulation program, which an display the moving force (attaching, grabbing, rotating) on two virtual points. As the result of the experiment, our proposed system shows much higher resolution than any others.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1559-1564
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• 2003

In this paper, a control method is presented to improve performance of haptic display on a passive haptic device equipped with passive actuators. In displaying a virtual wall with the passive haptic device, an unstable behavior occurs with excessive actions of brakes due to the time delay mainly arising from the update rate of the virtual environment and force approximation originated from the characteristics of the passive actuators. The previous T.D.P.C. (Time Domain Passivity Control) method was not suitable for the passive haptic device, since a programmable damper used in the previously introduced T.D.P.C. method easily leads to undesirable behaviors. A new passivity control method is evaluated with considering characteristics of the passive device. First, we propose a control method which is designed under the analysis of the passive FME (Force Manipulability Ellipsoid). And then a passivity control scheme is applied to the proposed control method. Various experiments have been conducted to verify the proposed method with a 2-link mechanism.