• Proceedings of the KSME Conference
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• 2001.06b
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• pp.313-318
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• 2001

A haptic hand controller 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. This paper presents a design method for KU-HHC, 6 DOF Korea University-haptic hand controller, which allows separation of workspace from linkage mechanism in consideration of the efficient user operation. First, the 3 DOF mechanism in which all the actuators are mounted on the fixed base is developed by combining a 5-bar linkage and gimbal mechanism. Then, the 6 DOF HHC is designed by connecting the two 3 DOF devices through a handle. This paper presents the forward and inverse kinematics for this device and Jacobian analysis. Improvement of the kinematic characteristics using performance index is also discussed. The hand controller KU-HHC based on this design concept and kinematic analysis was manufactured and shows excellent performance.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.992-995
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• 2003

A haptic device 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. For realistic haptic display, the detailed information on collision between objects is necessary. In the past, the point-based graphic environment has been used in which the end effector of a haptic device was represented as a point and the interaction of this point with the virtual environment was investigated. In this paper, the shape-based graphic environment is proposed in which the interaction of the shape with the environment is considered to analyze collision or contact more accurately. To this end. the so-called Gilbert-Johnson-Keerthi (GJK) algorithm is adopted to compute collision points and collision instants between two shapes in the 3-D space. The 5- DOF haptic hand controller is used with the GJK algorithm to demonstrate a peg-in-hole operation in the virtual environment in conjunction with a haptic device. It is shown from various experiments that the shape-based representation with the GJK algorithm can provide more realistic haptic display for peg-in-hole operations.

• 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.

• Proceedings of the Korean Society of Computer Information Conference
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• 2023.07a
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• pp.553-554
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• 2023

본 연구에서는 손가락의 움직임을 입력받는 햅틱 컨트롤러를 이용하여 물체를 잡거나 놓는 손의 포즈를 생성하여 가상의 물체를 제어할 수 있는 방법을 제안한다. 다섯 개의 손가락을 움직일 수 있는 경우의 수는 무수히 많아서 이를 위한 모든 모션을 캡쳐하는 것은 매우 힘든 작업이고, 캡쳐한 모든 모션을 수동으로 연결시키는 것도 어려운 일이다. 제안 방법은 햅틱 컨트롤러에서 입력된 다섯 개의 신호를 인공 신경망을 사용하여 손가락의 포즈로 변경해 준다. 이를 위해 입력 신호와 매칭되는 손의 포즈를 이용하여 인공 신경망을 훈련시킨 후, 그 결과를 이용하여 사용자의 입력에 대응하는 손의 포즈를 생성한다. 결과 포즈의 사실성을 높이기 위해 모션 캡쳐 장비로부터 훈련용 데이터를 생성하였다. 본 논문의 방법은 햅틱 컨트롤러에서 동일한 입력을 받더라도 물체의 모양에 대응하는 손의 모션을 생성하는 결과를 보여준다.

• Journal of the Korea Computer Graphics Society
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• v.26 no.3
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• pp.69-77
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• 2020

This paper proposes an effective method of giving users feedback on 3-dimensional drawing and measures its performance to ensure that feedback can help users enter the correct position in 3D. In the experiment of drawing a given line shape using a hand-held controller, the user is provided with three levels of visual, auditory, and haptic feedback for the position input error. As a result of analyzing the position input accuracy according to the type of feedback, all types of feedback are able to significantly reduce errors, and visual feedback and haptic feedback are more effective than auditory feedback.