• 한국인터넷방송통신학회논문지
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• 제11권4호
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• pp.125-130
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• 2011

본 논문은 난타 음악과 상호작용하는 햅틱 포스 피드백기술의 활용 가능성을 조사했다. 촉감처리기술을 포함하는 VR기술과 사용자에게 원기둥 객체들과 컵 객체의 터치를 제공하는 햅틱 디바이스를 사용했다. 햅틱 디바이스는 VR 공간에서 터치 모델을 이용하는데 활용되었다. 실험을 위한 Matlab/Simulink와 Handshake의 proSENCE Virtual Touch Toolbox는 프로그램 툴로 사용되었다. 각각 x, y, z축의 움직임을 나타내는데 필요한 함수는 3D로 모델화한 컵속에 물의 자연스런 움직임을 묘사하도록 적용했다. 컵속의 정해진 물의 양은 다른 소리를 갖는다. 실험에서 3D 객체의 외형을 인지하는 것과 터치에 의해서 촉감을 느끼는 것은 Haptic의 인지와 함께 난타음악과 연결하여 표현되었다. 또한, 포인터를 활용해서 VR공간에서 게임이나 콘텐츠 개발이 가능함을 확인하였다.

• 한국실내디자인학회논문집
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• 제23권1호
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• pp.96-104
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• 2014

The purpose of this study is to investigate Seonyudo Park and Kkummaru in terms of haptic space. This is also an attempt to explore temporality of appearing in architectural spaces with reference to cinematic expression in which time is visible and perceptible. The film of Chris Marker's La Jet$\acute{e}$e depicts temporal relationship by indeterminate continuum, reading the space on the disjunctive relationships of visual and auditory, and aberrance of time and space. Based on the three categories that is derived from those discussions, this study analyzes the experience of non-chronological time induced by architectural devices: the bifurcation of indeterminate circulation, the readability of space on the disjunction of visual and auditory, and the border-dismantling. Therefore, this study have a relationship with the contemporary discourse on time and events as transformation and becoming, and it means to escape from the deterministic thinking to emphasize invariability and space rather than variation and time.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.312-316
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• 2004

In this study, a spatial 3-dof haptic mechanism is implemented. The implemented mechanism does not employ the gear transmissions as velocity reducers for all three joints but uses wire-based transmissions, thereby it is able to minimize the frictions significantly. Also, by employing the structure of the four-bar mechanism to drive third joint from close to the base, the mechanism is able to minimize the inertia effect from the third actuator very effectively. Its kinematic analysis such as position and velocity analyses are performed first. Then, its operating software development, hardware implementation, and the related interfaces between a PC and the implemented Haptic device are completed. To evaluate its potential and its performance as a haptic device, a experiment generating a virtual constraint in a operational task space is conducted and preliminary results are discussed.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 학술대회 논문집 정보 및 제어부문
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• pp.78-80
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• 2005

Haptic interface apparatus is the device which can offer users virtual reality not only by visualization of virtual space but also by force or tactile feedback. In this paper, we designed and fabricated a 2D haptic interface device that can be used for various purposes, and implemented a virtual air-hockey system that users can easily find in game rooms. By suitable modeling and haptic rendering, users can feel the impact and the reaction force with his/her hand holding the handle through 2D haptic interface device when he/she hit an air-hockey puck with the handle. Through the trial demonstration. we observed the reasonable effect of direction and speed of a ball like doing in reality.

• 한국방송∙미디어공학회:학술대회논문집
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• 한국방송공학회 1998년도 Proceedings of International Workshop on Advanced Image Technology
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• pp.67-72
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• 1998

The paper aims to present a new human-scale haptic advice for virtual environment named Scaleable-SPIDAR (Space Interface Device for Artificial Reality), which can provides different aspects of force feedback sensations, associated mainly with weight, contact and inertia, to both hands within a cave-like space. Tensioned string techniques are used to generate such haptic sensations, while keeping the space transparent and unbulky. The device is scaleable so as to enclose different cave-like working spaces. Scaleable-SPIDAR is coupled with a large screen where a computer generated virtual world is displayed. The used approach is shown to be simple, safe ad sufficiently accurate for human-scale virtual environment.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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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.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2006년도 추계학술대회논문집
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• pp.422-427
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• 2006

This paper presents force-feedback control performance of a haptic device in virtual environment of minimally invasive surgery(MIS). As a first step, based on an electrorheological(ER) fluid and spherical geometry, a new type of master device is developed and integrated with a virtual environment of MIS such as a surgical tool and human organ. The virtual object is then mathematically formulated by adopting the shape retaining chain linked(S-Chain) model. After evaluating reflection force, computational time, and compatibility with real time control, the virtual environment of MIS is formulated by interactivity with the ER haptic device in real space. Tracking control performances for virtual force trajectory are presented in time domain, and theirtrackingerrorsareevaluated.

• 한국소음진동공학회논문집
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• 제16권12호
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• pp.1286-1293
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• 2006

This paper presents force-feedback control performance of a haptic device in virtual environment of minimally invasive surgery(MIS). As a first step, based on an electrorheological (ER) fluid and spherical geometry, a new type of master device is developed and integrated with a virtual environment of MIS such as a surgical tool and human organ. The virtual object is then mathematically formulated by adopting the shape retaining chain linked(S-chain) model. After evaluating reflection force, computational time, and compatibility with real time control, the virtual environment of MIS is formulated by interactivity with the ER haptic device in real space. Tracking control performances for virtual force trajectory are presented in time domain.

• 디지털콘텐츠학회 논문지
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• 제18권8호
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• pp.1489-1494
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• 2017

본 연구에서는 다양한 장르를 가진 디지털 게임의 영역에서도 1인칭 시점에 머물러있는 가상현실 게임 콘텐츠들의 한계에 대해 선행연구와 사례를 통해 고찰하고, 이를 바탕으로 가상공간 게임에서의 시점(1인칭, 3인칭)과 햅틱 피드백이 가져다주는 게임의 몰입감과 현존감 및 재미의 차이를 실험을 통하여 알아보았다. 실험 결과를 살펴보면 게임의 시점은 3인칭일 때보다 1인칭일 때, 햅틱 피드백이 제시될 때 몰입감과 현존감 및 재미가 증가하는 것을 알 수 있었다. 그러나 가상공간 환경과 게임 시점 간의 상호작용은 발견할 수 없었다. 이러한 결과로 가상공간 게임들은 1인칭을 시점으로 하여 햅틱 피드백을 사용하는 것이 적절하다고 할 수 있으나 게임 시점과 가상현실 환경이 무관한 점, 1인칭시점 게임보다는 3인칭이 더 인기를 끄는 점 등 을 빌어 가상공간에서의 3인칭시점 게임의 가능성을 시사한다.

• 한국가시화정보학회지
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• 제15권1호
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• pp.32-40
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• 2017

Interaction between fluid and a rigid object is frequently observed in everyday life. However, it is difficult to simulate their interaction as the medium and the object have different representations. One of the challenging issues arises especially in handling deformation of the object visually as well as rendering haptic feedback. In this paper, we propose a real-time simulation technique for multimodal interaction between particle-based fluids and soluble solids. We have developed the dissolution behavior model of solids, which is discretized based on the idea of smoothed particle hydrodynamics, and the changes in physical properties accompanying dissolution is immediately reflected to the object. The user is allowed to intervene in the simulation environment anytime by manipulating the solid object, where both visual and haptic feedback are delivered to the user on the fly. For immersive visualization, we also adopt the screen space fluid rendering technique which can balance realism and performance.