• Proceedings of the KSME Conference
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• 2008.11a
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• pp.1594-1599
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• 2008

Haptic rendering is a process that provides force feedback during interactions between a user and an object. This paper presents a haptic rendering technique for a telemanipulation system of deformable objects using image processing and physically based modeling techniques. The interaction forces between an instrument driven by a haptic device and a deformable object are inferred in real time based on a continuum mechanics model of the object, which consists of a boundary element model and ${\alpha}$ priori knowledge of the object's mechanical properties. Macro- and micro-scale experimental systems, equipped with a telemanipulation system and a commercial haptic display, were developed and tested using silicone (macro-scale) and zebrafish embryos (micro-scale). The experimental results showed the effectiveness of the algorithm in different scales: two experimental systems applied the same algorithm provided haptic feedback regardless of the system scale.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.11a
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• pp.27-30
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• 2000

In this paper, we determine the design criteria of haptic device considering the human haptic system and determine the design specifications. We developed a new 2DOF haptic device based on the specifications. It has the wide workspace, statically-balanced, constant inertia matrix, well-conditioned Jacobian matrix and so on. There also is not singularity point within workspace of the device. We show that it has better performance than other 2DOF haptic device in the many aspects.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1093-1097
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• 2004

We propose 'the haptic primitive' for haptic rendering without the need to solve complicated parametric equations. To develop 'the haptic primitive', we adopted "the God-Object Method" as a haptic rendering algorithm and applied 'Constructive Solid Geometry' to manage haptic objects. Besides being used in the 'ghost library' of $PHANToMTM^{TM}$ our method can be used as a basic component for developing tools and libraries that aim to simplify haptic modeling. It can also be applied to tactile display modules and temporal display modules. Ultimately it can be developed into a one-stop haptic modeling tool that enables the user to more conveniently create a tangible CAD systems or a tangible e-ommerce system.

• 한국HCI학회:학술대회논문집
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• 2008.02a
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• pp.366-371
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• 2008

In this paper, we suggest a haptic interface and a framework of interaction with haptic feedback based Windows graphical user interface (GUI) in a computing device with touch screen. The events that occur during a user interacts with Windows interfaces through a touch screen are filtered out by the Windows Interface Message Filter (WIMF) and converted into appropriate haptic feedback information by the Haptic Information Provider (HIP). The haptic information are conveyed to users through a stylus-like haptic interface interacting with a touch screen. Major Windows interaction schemes including button click, menu selection/pop-up, window selection/movement, icon selection/drag & drop and scroll have been implemented and user tests show the improved usability since the haptic feedback helps intuition and precise manipulation.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1131-1135
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• 2004

In the virtual environment, force feedback to the human operator makes virtual experiences more realistic. However, the force feedback using active actuators such as motors can make the system active and sometimes unstable. To ensure the safe operation and enhance the haptic feeling, stability should be guaranteed. Both motors and brakes are commonly used for haptic device. A brake can generate a torque only against its rotation, but it is intrinsically stable. Consequently, motors and brakes are complementing each other. In this research, a two degree-of-freedom (DOF) haptic device equipped with both motors and brakes has been developed to provide better haptic effects. Each DOF is actuated by a pair of motor and brake. Modeling of the environment and the control method are needed to utilize both actuators. For various haptic effects, contact with the virtual wall and representation of friction effect are extensively investigated in this paper. It is shown that the hybrid haptic system is more suited to some applications than the motor-based active haptic system.

• 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.

• Proceedings of the KSME Conference
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• 2008.11a
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• pp.860-864
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• 2008

In modern society, people tend to spend their time on various types of chairs. However, it is not easy for a designer to design a comfortable chair, because satisfaction with the chair depends not only on the quantitative elements such as size, but also on the qualitative element such as the user's feeling. To deal with these problems, there have been many studies on designing an ergonomics chair. In this paper, the hapticaided design (HAD) system was adopted to design the ergonomics chair. Based on the HAD system, the designer can experience whether the chair is comfortable or not through the haptic device, and also can modify the design parameters instantaneously. The haptic chair capable of controlling the design parameters in real time was proposed as a haptic simulator. The controllable parameters such as the seat height, reclining angle, stiffness of the backrest, and so on were selected based on the previous researches related to ergonomics chairs. It will reduce the development cost and time by replacing the process of making the real mock-up and prototype with the haptic chair.

• 한국HCI학회:학술대회논문집
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• 2008.02c
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• pp.12-18
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• 2008

This paper introduces the existing network-adaptive transport techniques for haptic-enhanced system. First we classify haptic-based network systems according to the communication architecture and data type. Then the existing studies concerning network QoS requirements for haptic-based network system are depicted. Finally, the survey of network-adaptive transport schemes is introduced devided into three key issues: delay and jitter compensation, error control, and transmission control.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.7
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• pp.602-608
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• 2005

In the virtual environment, force feedback to the human operator makes virtual experiences more realistic. To ensure the safe operation and enhance the haptic feeling, stability should be guaranteed. Both motors and brakes are commonly used for haptic devices. Motors can generate a torque in any direction, but they can make the system active during operation, thus leading to instability. Brakes can generate a torque only against their rotation, but they dissipate energy during operation, which makes the system intrinsically stable. Consequently, motors and brakes are complementing each other. In this research, a two degree-of-freedom (DOF) haptic device equipped with motors and brakes has been developed to provide better haptic effects. Each DOF is actuated by a pair of motor and brake. Modeling of the environment and the control method are needed to utilize both actuators. Among various haptic effects, contact with the virtual wall, representation of friction and representation of plastic deformation have been investigated extensively in this paper. It is shown that the hybrid haptic device is more suited to some applications than the motor-based haptic device.

• The Journal of Korea Robotics Society
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• v.4 no.3
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• pp.243-249
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• 2009

In modern society, people spend most of their time on various types of chairs. However, it is not easy for a designer to design a comfortable chair because satisfaction with the chair depends not only on the quantitative elements such as size, but also on the qualitative element such as the user's feeling. To deal with these problems, there have been many studies on designing ergonomic chairs. This paper proposes the haptic-aided design (HAD) system to design an ergonomic chair. Based on the HAD system, the designer can experience whether the chair is comfortable or not through the haptic device, and also can modify the design parameters instantaneously. The haptic chair capable of controlling the design parameters in real time was proposed as a haptic simulator. The controllable parameters, such as seat height, reclining angle, stiffness of the backrest, and so on were selected based on the previous research related to ergonomic chairs. The proposed methodology will help reduce the development cost and time by replacing the process of making the real mock-ups and prototypes with the haptic chair.