• Proceedings of the Korea Multimedia Society Conference
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• 2003.05b
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• pp.499-502
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• 2003

VR(virtual reality, 가상 현실) 환경이 대중화 되면서, VR 환경 하에서 사용자가 반력(force feedback)을 느끼게 하는 방법들에 대한 연구가 활발해 지고 있다. 이러한 반력의 사용에 있어, 반력을 지원하는 하드웨어, 소프트웨어들이 필수적이고, 기존의 탁상형 고정식인 반력 게임컨트롤러 뿐만 아니라, 게임 플레이어가 보다 향상된 체감효과를 통해 현실감을 경험할 수 있도록 다양한 햅틱 장치를 필요로 한다. 본 연구에서는 신체에 착용하여 체감을 느낄 수 있도록 특별 제작된 (custom) 햅틱 수트 (haptic suit)를 다룬다. 이를 위한 게임 인터페이스를 제시하여, 게임 컨텐츠에 실재감을 부여할 수 있는 반력을 편집하고, 재생할 수 있는 효과 생성기를 제시한다.

• Proceedings of the Korea Society of Design Studies Conference
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• 2005.05a
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• pp.214-215
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• 2005

• Journal of the HCI Society of Korea
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• v.2 no.2
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• pp.53-59
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• 2007

Several researches in 3D interaction have identified and extensively studied the four basic interaction tasks for 3D/VE applications, namely, navigation, selection, manipulation and system control. These interaction schemes in the real world or VE are generally suitable for interacting with small graspable objects. In some applications, it is important to duplicate real world behavior. For example, a training system for a manual assembly task and usability verification system benefits from a realistic system for object grasping and manipulation. However, it is not appropriate to instantly apply these interaction technologies to such applications, because the quality of simulated grasping and manipulation has been limited. Therefore, we introduce the intuitive and natural 3D interaction haptic interface supporting high-precision hand operations and realistic haptic feedback.

• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.406-409
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• 2004

Recently, many auto makers and OEM are now developing various telematics control units(TCU). TCU has an embedded OS and many user-friendly services inherently and frequently the driver operates the TCU on driving a car. Although the TCU has some accident resistive functions, secondhand accidental problem arose. Current Korean domestic TCUs have some interfaces such as push-button, touch screen, voice recognition and etc. But, because of operational complexity, technical limitation, it has not sufficient user-friendly interface. In this paper, to overcome this problem, haptic devices are considered. We present haptic devices and applications on the basis of that of U.S. Immersion co. and also BMW's iDrive technology.

• The Journal of Korea Robotics Society
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• v.15 no.2
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• pp.131-138
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• 2020

This paper proposes a low-cost robotic surgery system composed of a general purpose robotic arm, an interface for daVinci surgical robot tools and a modular haptic controller utilizing smart actuators. The 7 degree of freedom (DOF) haptic controller is suspended in the air using the gravity compensation, and the 3D position and orientation of the controller endpoint is calculated from the joint readings and the forward kinematics of the haptic controller. Then the joint angles for a general purpose robotic arm is calculated using the analytic inverse kinematics so that that the tooltip reaches the target position through a small incision. Finally, the surgical tool wrist joints angles are calculated to make the tooltip correctly face the desired orientation. The suggested system is implemented and validated using the physical UR5e robotic arm.

• Korean Journal of Computational Design and Engineering
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• v.4 no.1
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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.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1759-1764
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• 2005

Human Adaptive Mechatronics(HAM) is a new concept which was proposed in our university's research project sponsored by Japanese Ministry of Education, Sports, Culture, Science and Technology(MEXT), and is defined as "intelligent mechanical systems that adapt themselves to the user's skill under various environments, assist to improve the user's skill, and assist the human-machine system to achieve best performance". In this paper, the concept and key-items of HAM are mentioned. And the control strategy to realize a HAM human-machine system is explained in the case of physical-interface system, i.e. haptic system. The proposed assist-control of a force-feedback type haptic system includes online estimation of a operator's control characteristics, and a `force assist' function implemented as a change in the support ratio according to the identified skill level. We developed a HAM-haptic device test system, executed evaluation experiments with this apparatus, and analyzed the measured data. It was confirmed that the operator's skill could be estimated and that operator's performance was enhanced by the assist-control.

• Journal of IKEEE
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• v.17 no.1
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• pp.44-50
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• 2013

This paper proposed the implementation of haptic-based robot which is following a human by using fundamental sensors on robot arms without additional sensors. Joints in the robot arms have several motors, and their angles can be read out by these motors when a human pushes or pulls the robot arms. So these arms can be used as haptic sensors. The implemented robot follows a human by interacting with robot arms and human hands, as a human follows a human by hands.

• Journal of Internet Computing and Services
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• v.24 no.6
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• pp.23-29
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• 2023

As an effort to maximize the immersiveness of user experience in virtual reality, there have been constant efforts to provide a user with tactile sensation by providing haptic feedback. Most of the haptic feedback methods, however, can create only limited or unrealistic haptic sensations since they utilize affordable actuators such as a vibrotactile actuator. When it comes to martial arts training or a game, the limitation of such haptic feedback is apparent due to the significant difference between the physical impact of hitting an object and the sensation departed from a vibrotactile actuator. Noting this, we proposed a haptic impact system that can create a haptic impact when the user hits a virtual object with the fist. The haptic interface uses a quick-return mechanism that can deliver haptic impact feedback to a user's fist. The realism of the haptic impact was evaluated by conducting a human-subject experiment. The results indicate a significant effect of haptic feedback on the realism of the virtual impact.

• 한국HCI학회:학술대회논문집
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• 2008.02a
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• pp.59-64
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• 2008

In this paper, stability and transparency analysis for client/server haptic-based networked virtual environment (NVE) is introduced. From this analysis the appropriate communication structure for the more stable and transparent haptic interactions can be derived. Also, it is possible to expect and compensate the quality deterioration of haptic interactions according to certain network conditions In order to verify the usefulness of the analysis, simple haptic-based NVE application is implemented. For the stability verification, the vibration or strange movement of haptic interface and virtual object are measured under various network states. In addition, the usefulness of the proposed transparency analysis and network delay compensation scheme is verified by comparing distorted and compensated force feedbacks with real force feedback.