• 한국경영정보학회:학술대회논문집
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• 한국경영정보학회 2008년도 춘계학술대회
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• pp.79-84
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• 2008

Haptics, the science and physiology of the sense of touch, has been investigated in the field of engineering and HCI to provide better computing environments for users. Previous haptic technology being focused was mainly on the PC environments; however, beginning with the i-Phone of Apple recent haptic technology has entered our daily lives. Despite its popularization, the business opportunities the technology will bring have not yet been investigated thoroughly. This research forecasts the application of haptic technology on mobile devices and the consequential business opportunity. Also, the direction of future research in the field of MIS will be proposed.

• 한국HCI학회:학술대회논문집
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• 한국HCI학회 2009년도 학술대회
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• pp.390-395
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• 2009

본 논문은 이동형 햅틱 장치(mobile haptic interface; MHI)의 실제적인 문제점과 그 개선사항들에 대해 다루고 있다. 1) 전체 좌표계에서의 haptic interface point (HIP) 위치 추정 정확도에 대한 개선, 2) MHI 가 사용자와 장애물들을 피해 움직이도록 하는 포텐셜-필드 방식에 기반한 이동 계획 알고리즘, 3) MHI 의 움직임으로부터 발생하는 원하지 않는 힘이 사용자에게 전해지는 것을 막기 위한 closed-loop 컨트롤 등을 소개한다.

• 한국HCI학회:학술대회논문집
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• 한국HCI학회 2009년도 학술대회
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• pp.2068-2071
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• 2009

This paper presents a multiple degree-of-freedom (dof) energy bounding approach (EBA) to enhance directional transparency while guaranteeing stability for multiple-dof haptic interaction. It was observed that the passivity condition for multiple ports may lead to some oscillatory limit cycle behaviors in some coordinate directions even though the total sum of energy flow-in is positive, meaning that the system is passive. The passivity condition, therefore, needs to be applied to each coordinate in order to avoid oscillatory behavior by keeping each energy flow-in always positive. For guaranteeing passivity, which in turn, stability in each coordinates, the EBA is applied. For multiple-dof haptic interaction, however, the EBA in each coordinate may distort the direction of the force vector to be rendered since the EBA may cut down the magnitude of the force and torque vectors to be rendered in order to ensure the passivity. For avoiding this problem, a simple projection method is presented. The validity of the proposed algorithm is shown by several experiments.

• 로봇학회논문지
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• 제8권3호
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• pp.164-172
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• 2013

This paper presents a new concept of a 1-DOF elbow exoskeleton driven by a twisted strings-based actuator. A novel joint actuation mechanism is proposed and its kinematic model is presented along with its experimental evaluation, and guidelines on how to choose the strings suitable for such an exoskeleton are given. We also proposed and experimentally verified a human intention detection method which takes advantage of intrinsic compliance of the mechanism. The study showed that the developed twisted strings-driven elbow exoskeleton is light, compact and have a high payload-to-weight ratio, which suggests that the device can be effectively used in a variety of haptics, teleoperation, and rehabilitation applications.

• 제어로봇시스템학회논문지
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• 제10권11호
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• pp.1044-1051
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• 2004

This paper described a novel locomotion interface that can generate infinite floor for various surface, named as virtual walking machine. This interface allows users to participate in a life-like walking experience in virtual environments, which include various terrains such as plains, slopes and stair ground surfaces. The interface is composed of two three-DOF (X, Y, Yaw) planar devices and two four-DOF (Pitch, Roll, Z, and relative rotation) footpads. The planar devices are driven by AC servomotors for generating fast motions, while the footpad devices are driven by pneumatic actuators for continuous support of human weight. To simulate natural human walking, the locomotion interface design specification are acquired based on gait analysis and each mechanism is optimally designed and manufactured to satisfy the given requirements. The designed locomotion interface allows natural walking(step: 0.8m, height: 20cm, load capability: 100kg, slope:30deg) for various terrains.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1662-1667
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• 2005

In this paper, analysis, design, control and prototype construction of a wearable wire-driven haptic interface called HapticPen is discussed. This device can be considered as a wire driven parallel mechanism which three wires are attached to a pen-tip. Wire tensions are provided utilizing three DC servo motors which are attached to a solid frame on the user's body. This device is designed as input as well as output device for a wearable PC. User can write letters or figures on a virtual plate in space. Pen-tip trajectory in space is calculated using motor encoders and force feedback resulting from contact between pen and virtual plate is provided for constraining the pen-tip motion onto the virtual plane that can be easily setup by arbitrary non-collinear three points in space. In this paper kinematic model, workspace analysis, application analysis, control and prototype construction of this device are presented. Preliminary experiments on handwriting in space show feasibility of the proposed device in wearable environments.

• 한국HCI학회:학술대회논문집
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• 한국HCI학회 2007년도 학술대회 1부
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• pp.578-584
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• 2007

사용자는 햅틱 장비를 통해 촉감을 느낄 수 있다. 하지만 일반적인 햅틱 장비들은 바닥에 고정된 형태이고, 또한 장치의 크기가 제한되어 있으므로, 제한된 작업공간을 가진다. 이로 인해 사용자들은 햅틱 장비의 작업공간보다 작은 물체 혹은 작업공간에 맞게 축소된 물체만을 느낄 수 있다. 이러한 햅틱 장비의 한계를 극복하고자, 햅틱 장비와 이동형 로봇을 결합한 이동형 햅틱 디스플레이를 제안한다. 이동형 햅틱 디스플레이를 위한 시스템 구성을 소개하고, 이동형 로봇의 움직임을 조종하기 위한 새로운 알고리즘을 제안한다. 이러한 이동형 햅틱 디스플레이를 사용하면 사용자는 햅틱 장비의 작업공간보다 큰 물체를 느낄 수 있으며, 가상 환경을 자유롭게 이동하면서 햅틱 피드백을 받을 수 있다.

• International Journal of Control, Automation, and Systems
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• 제2권2호
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• pp.238-246
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• 2004

In displaying a virtual wall using a passive haptic device equipped with passive actuators such as electric brakes, unsmooth motion frequently occurs. This undesirable behavior is attributed to time delay due to slowness in the virtual environment update and force approximation due to the inability of a brake to generate torque in arbitrary directions. In this paper a new control scheme called direct control is proposed to achieve smooth display on the wall-following task with a passive haptic device. In direct control, brakes are controlled so that the normal component of a resultant force at the end-effector vanishes, based on the force analysis at the end-effector of the passive haptic device using the passive FME (Force Manipulability Ellipsoid). Various experiments have been conducted to verify the validity of the direct control scheme with a 2-link passive haptic system.

• International Journal of CAD/CAM
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• 제9권1호
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• pp.93-102
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• 2010

Shaping realistic hairstyles for digital characters is a difficult, long and tedious task. The lack of appropriate interaction metaphors enabling efficient and simple, yet accurate hair modeling further aggravates the situation. This paper presents 3D interaction metaphors for modeling virtual hair using haptic interfaces. We discuss user tasks, ergonomic aspects, as well as haptics-based styling and fine-tuning tools on an experimental prototype. In order to achieve faster haptic rates with respect to the hair simulation and obtain a transparent rendering, we adapt our simulation models to comply with the specific requirements of haptic hairstyling actions and decouple the simulation of the hair strand dynamics from the haptic rendering while relying on the same physiochemical hair constants. Besides the direct use of the discussed interaction metaphors in the 3D modeling area, the presented results have further application potential in hair modeling facilities for the entertainment industry and the cosmetic sciences.

• 대한기계학회논문집A
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• 제34권11호
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• pp.1581-1586
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• 2010

인체와의 물리적인 접촉이 수반되는 제품의 설계 및 개발에서 필요한 시제품을 햅틱 시뮬레이터로 대체하는 설계 기법을 햅틱보조설계(Haptics-Adided Design, HAD)라 하는데, 이를 통하여 개발 비용 및 시간을 감소시킬 수 있다. 제품설계에 있어서 사용자의 감성적인 요소뿐만 아니라 제품이 사용자의 신체에 미치는 영향이 중요함에도 불구하고, 기존의 HAD 는 사용자의 감성적인 평가만을 설계에 반영하였다. 그 결과, 사용자가 편하게 느끼는 설계와 인체공학적인 측면에서 권장하는 설계 사이에 차이가 발생하였다. 이와 같은 문제를 해결하기 위하여 본 연구에서는 기존의 HAD 과정에 제품의 사용 시에 사용자의 신체 변화를 관찰하는 단계를 추가하여 인간중심의 설계를 구현할 수 있는 방법을 제안하였다. 제안된 설계방식을 검증하기 위하여, 등판의 강성을 조절할 수 있는 햅틱의자 시뮬레이터를 사용하여 사무용 의자 등판의 틸트구조 설계에 HAD 를 적용하였고, MADYMO 를 이용한 시뮬레이션을 통하여 인체공학적인 측면에서 제품이 올바르게 설계 되었는지 검증하였다. 이를 바탕으로 제안한 설계방법이 감성적인 요소와 신체적인 요소를 모두 실시간으로 설계에 반영할 수 있음을 확인하였다.