• Korean Institute of Interior Design Journal
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• v.22 no.5
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• pp.162-170
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• 2013

Although vision has been considered as a top sensory organ in the Western culture until modern times, the significance of space experience that communicates with a body via complex perceptions has recently garnered attention. This study criticizes the limitations of a vision-centered space and has the goal of empirically examining the sensibility characteristics in a haptic space through post-structuralism views leading up to Gilles Deleuze's philosophical ideas. This study will explore the flow of senses from the philosophical and artistic standpoint and the sensibility characteristics in a haptic space by examining the theories on haptic perceptions in connection with a space. In order to test the existing theories and identify the differences in sensibilities depending on perceptual method, the sensibilities of participants were compared using SD method (Semantic Differential scale method) and a validity test was conducted using a statistical program SPSS. The research has revealed that the average sensitivity scale of complex haptic perception was higher than single perception that only relies on vision. In addition, there was a correlation between perceptual method based on various sensory organs and human sensitivities. This study is meaningful in that it can serve a foundation for empirical research on sensibility, since it has reexamined the relationship between space and participants and demonstrated and analyzed their sensitivities through an experiment.

• 한국정보디스플레이학회:학술대회논문집
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• 2009.10a
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• pp.1187-1188
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• 2009

In this paper we interface Tangible Devices (i.e. Haptic Devices) for 3D Virtual World based on MPEG-RoSE syntax. We called it Virtual World and Real World Interface (VRI). The VRI Technology project intends to provide virtual world information to real world and tangible experience to user of virtual world through tangible devices.

• Journal of Power System Engineering
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• v.13 no.2
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• pp.71-82
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• 2009

This paper presents a real-time haptic rendering method for a realistic force feedback in a remote environment with varying communication time-delay. The remote environment is assumed as a virtual environment based on a computer graphics, for example, on-line shopping mall, internet game and cyber-education. The properties of a virtual object such as stiffness and viscosity are assumed to be unknown because they are changed according to the contact position and/or a penetrated depth into the object. The DARMAX model based output estimator is proposed to trace the correct impedance of the virtual object in real-time. The output estimator is developed on the input-output relationship. It can trace the varying impedance in real-time by virtue of P-matrix resetting algorithm. And the estimator can trace the correct impedance by using a white noise that prevents the biased input-output information. Realistic output forces are generated in real-time, by using the inputs and the estimated impedance, even though the communication time delay and the impedance of the virtual object are unknown and changed. The generated forces trace the analytical forces computed from the virtual model of the remote environment. Performance is demonstrated by experiments with a 1-dof haptic device and a spring-damper-based virtual model.

• Journal of the Korean Society for Precision Engineering
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• v.28 no.11
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• pp.1259-1264
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• 2011

This paper suggests a new film-type haptic actuator based on cellulose acetate electro-active paper. Conventional tiny haptic actuators in mobile devices can create vibrotactile sensation at only near resonant frequency. The strategy of operating near the resonant frequency, however, brought a new issue for creating vibrotactile sensation which can be strong enough to feel in arbitrary frequency. Another problem is that the size of the conventional actuator is not small enough to be embedded into slim mobile devices. In order to achieve these issues, we propose a thin and tiny actuator based on a cellulose acetate material charged with an electric potential. The motion of the actuator can be a concave or a convex by controlling a polarity of both charged membranes and the actuator performance can be modulated by increasing level of biased electric potential.

• Journal of the Korean Society of Visualization
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• v.15 no.1
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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.

• Journal of the Korean Society of Safety
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• v.28 no.4
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• pp.19-25
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• 2013

For safe remote control, information on remote environment has to be delivered to operator realistically, and there have been numerous research efforts on this respect. Among them, haptic technology can significantly enhance safety and overall effectiveness of remote operation by delivering various kinds of information on virtual or real environment to operator. In this study, remote control based on haptic feedback is applied to control of mobile robot moving according to the command from operator avoiding collision with environmental obstacles and maintaining safe distance from them using ultrasonic sensors. Specifically, a remote feedback control structure for mobile robot is proposed. The controller is based on the inner feedback loop that directly utilizes information on distance to obstacles, and the outer feedback loop that the operator directly commands using the haptic device on which the computed reaction force based on the distance information is acting. Effectiveness of the proposed remote control scheme using double feedback loops is verified through a series of experiments on mobile robot.

• 한국HCI학회:학술대회논문집
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• 2009.02a
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• pp.572-578
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• 2009

This paper introduce a structure of haptic collaboration system over high resolution tiled-display, and proposes a object based efficient display method for high resolution display in integrated system. in addition, a modeling of visualization system is defined to evaluate performance of the proposed method. Both haptic system and tiled-display system have requirements of computational power. A haptic device is unstable if haptic rendering rate is less than 1kHz. A requirement of tiled-display systems is frame rate of display. It requires update of 30 frame fer sec. If we use these systems independently, we can satisfy each requirements. However, if we integrate two systems, performance of entire system significantly decreases because of lack of resources. In this paper, therefore, we propose a segmentation-based display method for ultra high resolution display in integrated system. The proposed method reduces redundancy of display data by reducing a display rate of static objects. Finally, a modeling of visualization system is defined to evaluate performance of the proposed method.

• Transactions on Control, Automation and Systems Engineering
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• v.4 no.1
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• pp.2-8
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• 2002

This paper discusses haptic display for grasping a virtual object by two fingers. Much research has been done on fundamental analysis for stability of haptic display. But it is difficult to apply the results immediately to grasping situations by two fingers, since the studies usually deal with a single device and a single object and the fingertip force in grasping situations has two components, internal and external components. The conventional methods, which specify the coupling impedance at each contact point separately, have no other alternative but to specify the impedance for the sum of the internal and external components. So even if only the impedance for the external force should be changed, the impedance for the internal force is also changed at the same time. In this paper, a new method, in which the coupling impedance is specified separately for the internal and external forces, is proposed and the stability of the proposed method is discussed using passivity analysis for 1 -DOF(Degree-Of-Freedom) system. Finally, some experiments are performed to study the effects of the proposed method.

• The Journal of Korea Robotics Society
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• v.8 no.3
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• pp.197-205
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• 2013

This paper presents a robotic system that provides telepresence to the visually impaired by combining real-time haptic rendering with multi-modal interaction. A virtual-proxy based haptic rendering process using a RGB-D sensor is developed and integrated into a unified framework for control and feedback for the telepresence robot. We discuss the challenging problem of presenting environmental perception to a user with visual impairments and our solution for multi-modal interaction. We also explain the experimental design and protocols, and results with human subjects with and without visual impairments. Discussion on the performance of our system and our future goals are presented toward the end.

• Proceedings of the KSME Conference
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• 2001.06b
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• pp.313-318
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• 2001

A haptic hand controller 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. This paper presents a design method for KU-HHC, 6 DOF Korea University-haptic hand controller, which allows separation of workspace from linkage mechanism in consideration of the efficient user operation. First, the 3 DOF mechanism in which all the actuators are mounted on the fixed base is developed by combining a 5-bar linkage and gimbal mechanism. Then, the 6 DOF HHC is designed by connecting the two 3 DOF devices through a handle. This paper presents the forward and inverse kinematics for this device and Jacobian analysis. Improvement of the kinematic characteristics using performance index is also discussed. The hand controller KU-HHC based on this design concept and kinematic analysis was manufactured and shows excellent performance.