• 대한기계학회:학술대회논문집
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• 대한기계학회 2008년도 추계학술대회A
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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.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 추계학술대회 논문집
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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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• 제어로봇시스템학회 2004년도 ICCAS
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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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• 한국HCI학회 2008년도 학술대회 1부
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• pp.366-371
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• 2008

본 논문에서는 터치스크린이 장착된 윈도우 시스템에서 촉각 피드백을 사용해 윈도우 인터페이스와 상호작용하는 방법 및 체계를 제안한다. 사용자가 터치 스크린을 통해 윈도우 인터페이스와 상호작용할 때 발생하는 주요 이벤트는 윈도우 인터페이스 메시지 필터(Windows Interface Message Filter: WIMF)에 의해 감지되고, 촉각 정보 제공기(Haptic Information Provider: HIP)를 통해 적절한 촉각 정보로 변환되어 본 연구에서 제안한 스타일러스형 햅틱 인터페이스를 통해 사용자에게 촉각 자극을 전달한다. 본 연구에서는 윈도우 환경의 주요한 조작 방법인 버튼 클릭, 메뉴 선택 및 팝업, 창/아이콘 선택 및 끌어놓기(drag & drop), 스크롤에 대하여 촉각 피드백을 구현하였다. 피험자 실험결과 촉각 피드백은 상호작용하는 인터페이스 객체가 선택되었는지에 대한 사용자의 직관을 증대시켰으며, 인터페이스 객체의 위치 및 크기 조절 시 인터페이스의 정교한 조작을 도와 사용성을 증대시켰다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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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.

• 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.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2008년도 추계학술대회A
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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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• 한국HCI학회 2008년도 학술대회 3부
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• pp.12-18
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• 2008

본 논문은 촉감기반 네트워크 시스템을 위한 적용형 전송기법들에 대한 기존의 연구들을 소개한다. 우선 촉감기반 네트워크 시스템의 구조와 데이터 유행에 따라서 촉감기반 네트워크 시스템을 분류하고 촉감기반 시스템을 위한 네트워크 QoS 요구 조건에 관한 기존의 연구들을 정리한다. 촉감기반 시스템을 위한 기존의 네트워크 적응형 전송기법에 대해서 네트워크 지연 및 지터 보상 기법, 손실 제어, 그리고 전송률 제어 기법들로 나누어 소개한다. 촉감기반 네트워크 시스템을 위한 기존의 연구들을 정리하므로써 더 효율적인 네트워크 적응형 전송 기법들의 개발을 위한 기반을 마련하고자 한다.

• 제어로봇시스템학회논문지
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• 제11권7호
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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.

• 로봇학회논문지
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• 제4권3호
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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.