• 한국HCI학회:학술대회논문집
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• 2009.02a
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• pp.203-213
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• 2009

Medicine is one of great application fields where Virtual Reality (VR) technologies have been successfully utilized. The VR technologies in medicine bring together an interdisciplinary community of computer scientists and engineers, physicians and surgeon, medical educator and students, military medical specialists, and biomedical futurists. The primary feedback of a VR system has been visual feedback. The complex geometry for graphic objects and utilizing hardware acceleration can be incorporated with in order to produce realistic virtual environments. To enhance human-computer interaction (HCI), in term of immersive experiences perceived by users, haptic, speech, olfactory and other non-traditional interfaces should also be exploited. Among those, hapic feedback has been tightly coupled with visual feedback. The combination of the two sensory feedbacks can give users more immersive, realistic and perceptive VR environments. Haptic feedback has been studied over decades and many haptic based VR systems have been developed. This paper focuses on haptic feedback in term of its medical usages. It presents a survey of haptic feedback techniques with their applications in medicine.

• Korean Institute of Interior Design Journal
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• v.24 no.6
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• pp.229-239
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• 2015

The 21st century is a multiplication age and social and cultural phenomena have become diverse and peoples' desires and individuality have become important. Accordingly, the sensibility that reflects human taste is also required in the exhibition space. The exhibitions in this age induce the direct cognition of senses or take interactive forms that contact diverse media and react. The purpose of this research is to define the concept of haptic presentation method in which the audience perceive in the exhibition space by themselves and the visual elements spread into other senses and perceive complexly, and to present the directional nature. To conduct this research, first, this researcher recognized that haptic sensory experiential research by analyzing the roles and transition history of exhibition space is needed for the present age Second, based on philosophical theories, four haptic sensory expression characteristics (medium nature, experiential nature, attractiveness, sensitiveness) were derived by substituting Giles Deleuze's four haptic spatial characteristics (grasping short distance, dispersed gaze, cognition of bodily movement, formation of synesthesia through complex senses) and six formative factors of exhibition space (space, form, size, light, quality of materials, and color). And the effective exhibition presentation methods were analyzed through six cases of experiential exhibition spaces. Accordingly, what matters in the experiential exhibition space is to produce the four characteristics: medium nature, experientiality, attractiveness, and sensitiveness in equilibrium. It is necessary for the designers to reflect it appropriately in producing so that the audience can think and experience by themselves. Accordingly, in this thesis, it could be seen that to produce the haptic production characteristics in the experiential exhibition space in equilibrium is the important factor in the experiential exhibition space. In conclusion, experiences in the exhibition space should be approached with the transcendental haptic presentation method by which even the space of actually unexperienced cognition can be expanded and experienced through the metastasis and tension of various senses. Also, researches on such senses should be developed continuously, and this researcher expects that this will become a stimulant to present a new directivity.

• The Journal of Korea Robotics Society
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• v.15 no.4
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• pp.316-322
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• 2020

Endoscopic spine surgery is an advanced surgical technique for spinal surgery since it minimizes skin incision, muscle damage, and blood loss compared to open surgery. It requires, however, accurate positioning of an endoscope to avoid spinal nerves and to locate the endoscope near the target disk. Before the insertion of the endoscope, a guide needle is inserted to guide it. Also, the result of the surgery highly depends on the surgeons' experience and the patients' CT or MRI images. Thus, for the training, a number of haptic simulators for spinal needle insertion have been developed. But, still, it is difficult to be used in the medical field practically because previous studies require manual segmentation of vertebrae from CT images, and interaction force between the needle and soft tissue has not been considered carefully. This paper proposes AI-based automatic vertebrae CT-image segmentation and haptic rendering method using the proposed need-tissue interaction model. For the segmentation, U-net structure was implemented and the accuracy was 93% in pixel and 88% in IoU. The needle-tissue interaction model including puncture force and friction force was implemented for haptic rendering in the proposed spinal needle insertion simulator.

• International conference on construction engineering and project management
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• 2022.06a
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• pp.1179-1186
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• 2022

Building Information Modeling (BIM) is widely used to efficiently share, utilize and manage information generated in every phase of a construction project. Recently, mixed reality (MR) technologies have been introduced to more effectively utilize BIM elements. This study deals with the haptic interactions between humans and BIM elements in MR to improve BIM usability. As the first step in interacting with virtual objects in mixed reality, we challenged moving a virtual object to the desired location using finger-pointing. This paper presents the procedure of developing a haptic interface system where users can interact with a BIM object to move it to the desired location in MR. The interface system consists of an MR-based head-mounted display (HMD) and a mobile application developed using Unity 3D. This study defined two segments to compute the scale factor and rotation angle of the virtual object to be moved. As a result of testing a cuboid, the user can successfully move it to the desired location. The developed MR-based haptic interface can be used for aligning BIM elements overlaid in the real world at the construction site.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.06a
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• pp.617-618
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• 2009

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.50 no.5
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• pp.211-217
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• 2001

In this paper, we have developed the 6 DOF force display system to be based on the single PC. The system is composed of the force display device, the force reflecting rendering algorithm and the high-speed controller. The previous systems had a problem, that must adopt high performance workstation or 2-PC in order to control the graphics speedily and stably. In this paper, it is possible to improve the problem as to develop its exclusive controller and new rendering algorithm. The proposed new rendering algorithm is based on the Proxy algorithm, which can convert information of the position, the velocity, and the haptic information into the force-data. Especially, as to use the proxy algorithm, we can construct dynamical virtual-environment with the elasticity, the viscosity, the mass, and the friction force. As the result of the experiment, we found that our system has much superior characteristics than some other haptic interfaces, because it can control of 30,000 polygon model constructed virtual object with 1[kHz] haptic interrupt cycle and 20[Hz] graphic interrupt cycle in the single PC based system.

• Journal of Advanced Marine Engineering and Technology
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• v.41 no.1
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• pp.56-61
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• 2017

This paper presents a data prediction method and its application to haptic-based teleoperation systems. In general, time delays inevitably occur during data transmission in a network environment, which degrades the overall performance of haptic-based teleoperation systems. To address this situation, this paper proposes an autoregressive moving average (ARMA) model-based data prediction algorithm for estimating model parameters and predicting future data recursively in real time. The proposed method was applied to haptic data captured every 5 ms while bilateral haptic interaction was carried out by two users with an object in a virtual space. The results showed that the prediction performance of the proposed method had an error of less than 1 ms when predicting position-level data 100 ms ahead.

• Journal of the HCI Society of Korea
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• v.1 no.2
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• pp.1-8
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• 2006

This paper presents a development of new haptic API (Application Programming Interface) that is called K-$Touch^{TM}$ haptic API. It is designed in order to allow users to interact with objects by kinesthetic and tactile modalities through haptic interfaces. The K-$Touch^{TM}$ API would serve two different types of users: high level programmers who need an easy to use haptic API for creating haptic applications and researchers in the haptic filed who need to experiment or develop with new devices and new algorithms while not wanting to re-write all the required code from scratch. Since the graphic hardware based kinesthetic rendering algorithm implemented in the K-$Touch^{TM}$ API is different from any other conventional kinesthetic algorithms, this API can provide users with haptic interaction for various data representations such as 2D, 2.5D depth(height field), 3D polygon, and volume data. In addition, this API supports kinesthetic and tactile interaction simultaneously in order to allow users with realistic haptic interaction. With a wide range of applicative characteristics, therefore, it is expected that the proposed K-$Touch^{TM}$ haptic API will assists to have deeper recognition of the environments, and enhance a sense of immersion in environments. Moreover, it will be useful development toolkit to investigate new devices and algorithms in the haptic research field.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1559-1564
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• 2003

In this paper, a control method is presented to improve performance of haptic display on a passive haptic device equipped with passive actuators. In displaying a virtual wall with the passive haptic device, an unstable behavior occurs with excessive actions of brakes due to the time delay mainly arising from the update rate of the virtual environment and force approximation originated from the characteristics of the passive actuators. The previous T.D.P.C. (Time Domain Passivity Control) method was not suitable for the passive haptic device, since a programmable damper used in the previously introduced T.D.P.C. method easily leads to undesirable behaviors. A new passivity control method is evaluated with considering characteristics of the passive device. First, we propose a control method which is designed under the analysis of the passive FME (Force Manipulability Ellipsoid). And then a passivity control scheme is applied to the proposed control method. Various experiments have been conducted to verify the proposed method with a 2-link mechanism.

• Journal of Institute of Convergence Technology
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• v.2 no.2
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• pp.35-39
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• 2012

This paper presents the effect of data-hold methods on stability of haptic system with a virtual wall. When a human operator interacts with virtual wall, the lager the stiffness of the virtual wall is, the more realistic the operator feels that the virtual wall is. However, if the stiffness of the virtual wall becomes extremely large, the system may be unstable. When a virtual wall is designed, it is necessary to analyze the maximum available stiffness to guarantee a stable haptic interaction. The simulation model in this paper is developed based on the haptic device model, sampler, a virtual wall model, and data hold methods to compute the maximum stiffness for stability. The effectiveness of the simulation is evaluated through comparing the results of previous studies with the results of this simulation. In addition, the effects of two data hold methods, that is, zero-order hold (ZOH) and first-order hold (FOH) on the stability are analyzed and the values of the maximum available stiffness are compared through the simulation.